PROSACRobustTurntableGyroscopeCalibrator.java
/*
* Copyright (C) 2020 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.inertial.calibration.gyroscope;
import com.irurueta.algebra.Matrix;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.NotReadyException;
import com.irurueta.navigation.frames.ECEFPosition;
import com.irurueta.navigation.frames.NEDPosition;
import com.irurueta.navigation.inertial.calibration.CalibrationException;
import com.irurueta.navigation.inertial.calibration.StandardDeviationBodyKinematics;
import com.irurueta.numerical.robust.PROSACRobustEstimator;
import com.irurueta.numerical.robust.PROSACRobustEstimatorListener;
import com.irurueta.numerical.robust.RobustEstimator;
import com.irurueta.numerical.robust.RobustEstimatorException;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Robustly estimates gyroscope biases, cross couplings and scaling factors
* along with G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer using PROSAC robust estimator.
* <p>
* This calibrator assumes that the IMU is placed flat on a turntable spinning
* at constant speed, but absolute orientation or position of IMU is unknown.
* Turntable must rotate fast enough so that Earth rotation effects can be
* neglected, bus slow enough so that gyroscope readings can be properly made.
* <p>
* To use this calibrator at least 10 measurements are needed when common
* z-axis is assumed and G-dependent cross biases are ignored, otherwise
* at least 13 measurements are required when common z-axis is not assumed.
* If G-dependent cross biases are being estimated, then at least 19
* measurements are needed when common z-axis is assumed, otherwise at
* least 22 measurements are required when common z-axis is not assumed.
* <p>
* Measured gyroscope angular rates is assumed to follow the model shown below:
* <pre>
* Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w
* </pre>
* Where:
* - Ωmeas is the measured gyroscope angular rates. This is a 3x1 vector.
* - bg is the gyroscope bias. Ideally, on a perfect gyroscope, this should be a
* 3x1 zero vector.
* - I is the 3x3 identity matrix.
* - Mg is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on
* a perfect gyroscope, this should be a 3x3 zero matrix.
* - Ωtrue is ground-truth gyroscope angular rates.
* - Gg is the G-dependent cross biases introduced by the specific forces sensed
* by the accelerometer. Ideally, on a perfect gyroscope, this should be a 3x3
* zero matrix.
* - ftrue is ground-truth specific force. This is a 3x1 vector.
* - w is measurement noise. This is a 3x1 vector.
*/
public class PROSACRobustTurntableGyroscopeCalibrator extends RobustTurntableGyroscopeCalibrator {
/**
* Constant defining default threshold to determine whether samples are inliers or not.
*/
public static final double DEFAULT_THRESHOLD = 5e-1;
/**
* Minimum value that can be set as threshold.
* Threshold must be strictly greater than 0.0.
*/
public static final double MIN_THRESHOLD = 0.0;
/**
* Indicates that by default inliers will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS = false;
/**
* Indicates that by default residuals will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS = false;
/**
* Threshold to determine whether samples are inliers or not when testing possible solutions.
* The threshold refers to the amount of error on residuals between
* angular rate norms.
*/
private double threshold = DEFAULT_THRESHOLD;
/**
* Indicates whether inliers must be computed and kept.
*/
private boolean computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
/**
* Indicates whether residuals must be computed and kept.
*/
private boolean computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
/**
* Quality scores corresponding to each provided sample.
* The larger the score value the better the quality of the sample.
*/
private double[] qualityScores;
/**
* Constructor.
*/
public PROSACRobustTurntableGyroscopeCalibrator() {
super();
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have
* length 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events
* raised by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final double[] initialBias, final Matrix initialMg,
final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final double[] initialBias, final Matrix initialMg,
final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated,
* false otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must
* have length 3 and is expressed
* in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final double[] initialBias, final Matrix initialMg,
final Matrix initialGg, final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must be
* 3x1 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final ECEFPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have
* length 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events
* raised by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final double[] initialBias, final Matrix initialMg,
final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final double[] initialBias, final Matrix initialMg,
final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated,
* false otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final double[] initialBias, final Matrix initialMg,
final Matrix initialGg, final double[] accelerometerBias, final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must
* have length 3 and is expressed
* in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final double[] initialBias, final Matrix initialMg,
final Matrix initialGg, final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must be
* 3x1 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if either
* turntable rotation rate or
* time interval is zero or negative.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final NEDPosition position, final double turntableRotationRate, final double timeInterval,
final List<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final boolean estimateGDependentCrossBiases, final Matrix initialBias, final Matrix initialMg,
final Matrix initialGg, final Matrix accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(final double[] qualityScores) {
super();
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have
* length 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events
* raised by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated,
* false otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must
* have length 3 and is expressed
* in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must be
* 3x1 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final ECEFPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have
* length 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must have length
* 3 and is expressed in radians per
* second (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics measures
* have been taken.
* @param turntableRotationRate constant rotation rate at which the
* turntable is spinning. Must be
* expressed in radians per second (rad/s).
* @param timeInterval time interval between measurements being
* captured expressed in seconds (s).
* @param measurements collection of body kinematics
* measurements with standard deviations
* taken at the same position with zero
* velocity and unknown different
* orientations.
* @param initialBias initial gyroscope bias to be used to
* find a solution. This must be 3x1 and
* is expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors and
* cross coupling errors matrix. Must
* be 3x3.
* @param initialGg initial gyroscope G-dependent cross
* biases introduced on the gyroscope by
* the specific forces sensed by the
* accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by
* this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific
* forces sensed by the
* accelerometer. Must be 3x3.
* @param listener listener to handle events
* raised by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated,
* false otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must have length 3 and is
* expressed in radians per second
* (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors
* matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer.
* Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity
* and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must
* have length 3 and is expressed
* in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be
* used to find a solution. This
* must be 3x1 and is expressed in
* radians per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* measurement. The larger the score value the better
* the quality of the sample.
* @param position position where body kinematics
* measures have been taken.
* @param turntableRotationRate constant rotation rate at which
* the turntable is spinning. Must
* be expressed in radians per
* second (rad/s).
* @param timeInterval time interval between measurements
* being captured expressed in
* seconds (s).
* @param measurements collection of body kinematics
* measurements with standard
* deviations taken at the same
* position with zero velocity and
* unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param initialBias initial gyroscope bias to be used
* to find a solution. This must be
* 3x1 and is expressed in radians
* per second (rad/s).
* @param initialMg initial gyroscope scale factors
* and cross coupling errors matrix.
* Must be 3x3.
* @param initialGg initial gyroscope G-dependent
* cross biases introduced on the
* gyroscope by the specific forces
* sensed by the accelerometer. Must
* be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised
* by this calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size, if either
* turntable rotation rate or
* time interval is zero or negative or
* if provided quality scores length is
* smaller than 10 samples.
*/
public PROSACRobustTurntableGyroscopeCalibrator(
final double[] qualityScores, final NEDPosition position, final double turntableRotationRate,
final double timeInterval, final List<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustTurntableGyroscopeCalibratorListener listener) {
super(position, turntableRotationRate, timeInterval, measurements, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
listener);
internalSetQualityScores(qualityScores);
}
/**
* Gets threshold to determine whether samples are inliers or not when testing possible solutions.
* The threshold refers to the amount of error on norm between measured specific forces and the
* ones generated with estimated calibration parameters provided for each sample.
*
* @return threshold to determine whether samples are inliers or not.
*/
public double getThreshold() {
return threshold;
}
/**
* Sets threshold to determine whether samples are inliers or not when testing possible solutions.
* The threshold refers to the amount of error on norm between measured specific forces and the
* ones generated with estimated calibration parameters provided for each sample.
*
* @param threshold threshold to determine whether samples are inliers or not.
* @throws IllegalArgumentException if provided value is equal or less than zero.
* @throws LockedException if calibrator is currently running.
*/
public void setThreshold(final double threshold) throws LockedException {
if (running) {
throw new LockedException();
}
if (threshold <= MIN_THRESHOLD) {
throw new IllegalArgumentException();
}
this.threshold = threshold;
}
/**
* Returns quality scores corresponding to each provided sample.
* The larger the score value the better the quality of the sample.
*
* @return quality scores corresponding to each sample.
*/
@Override
public double[] getQualityScores() {
return qualityScores;
}
/**
* Sets quality scores corresponding to each provided sample.
* The larger the score value the better the quality of the sample.
*
* @param qualityScores quality scores corresponding to each sample.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than minimum required samples.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setQualityScores(final double[] qualityScores) throws LockedException {
if (running) {
throw new LockedException();
}
internalSetQualityScores(qualityScores);
}
/**
* Indicates whether calibrator is ready to find a solution.
*
* @return true if calibrator is ready, false otherwise.
*/
@Override
public boolean isReady() {
return super.isReady() && qualityScores != null && qualityScores.length == measurements.size();
}
/**
* Indicates whether inliers must be computed and kept.
*
* @return true if inliers must be computed and kept, false if inliers
* only need to be computed but not kept.
*/
public boolean isComputeAndKeepInliersEnabled() {
return computeAndKeepInliers;
}
/**
* Specifies whether inliers must be computed and kept.
*
* @param computeAndKeepInliers true if inliers must be computed and kept,
* false if inliers only need to be computed but not kept.
* @throws LockedException if calibrator is currently running.
*/
public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
if (running) {
throw new LockedException();
}
this.computeAndKeepInliers = computeAndKeepInliers;
}
/**
* Indicates whether residuals must be computed and kept.
*
* @return true if residuals must be computed and kept, false if residuals
* only need to be computed but not kept.
*/
public boolean isComputeAndKeepResiduals() {
return computeAndKeepResiduals;
}
/**
* Specifies whether residuals must be computed and kept.
*
* @param computeAndKeepResiduals true if residuals must be computed and kept,
* false if residuals only need to be computed but not kept.
* @throws LockedException if calibrator is currently running.
*/
public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
if (running) {
throw new LockedException();
}
this.computeAndKeepResiduals = computeAndKeepResiduals;
}
/**
* Estimates gyroscope calibration parameters containing bias, scale factors
* cross-coupling errors and g-dependant cross biases.
*
* @throws LockedException if calibrator is currently running.
* @throws NotReadyException if calibrator is not ready.
* @throws CalibrationException if estimation fails for numerical reasons.
*/
@Override
public void calibrate() throws LockedException, NotReadyException, CalibrationException {
if (running) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
final var innerEstimator = new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
@Override
public double[] getQualityScores() {
return qualityScores;
}
@Override
public double getThreshold() {
return threshold;
}
@Override
public int getTotalSamples() {
return measurements.size();
}
@Override
public int getSubsetSize() {
return preliminarySubsetSize;
}
@Override
public void estimatePreliminarSolutions(
final int[] samplesIndices, final List<PreliminaryResult> solutions) {
computePreliminarySolutions(samplesIndices, solutions);
}
@Override
public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
return computeError(measurements.get(i), currentEstimation);
}
@Override
public boolean isReady() {
return PROSACRobustTurntableGyroscopeCalibrator.this.isReady();
}
@Override
public void onEstimateStart(final RobustEstimator<PreliminaryResult> estimator) {
// no action needed
}
@Override
public void onEstimateEnd(final RobustEstimator<PreliminaryResult> estimator) {
// no action needed
}
@Override
public void onEstimateNextIteration(
final RobustEstimator<PreliminaryResult> estimator, final int iteration) {
if (listener != null) {
listener.onCalibrateNextIteration(
PROSACRobustTurntableGyroscopeCalibrator.this, iteration);
}
}
@Override
public void onEstimateProgressChange(
final RobustEstimator<PreliminaryResult> estimator, final float progress) {
if (listener != null) {
listener.onCalibrateProgressChange(
PROSACRobustTurntableGyroscopeCalibrator.this, progress);
}
}
});
try {
running = true;
if (listener != null) {
listener.onCalibrateStart(this);
}
inliersData = null;
innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
innerEstimator.setConfidence(confidence);
innerEstimator.setMaxIterations(maxIterations);
innerEstimator.setProgressDelta(progressDelta);
final var preliminaryResult = innerEstimator.estimate();
inliersData = innerEstimator.getInliersData();
attemptRefine(preliminaryResult);
if (listener != null) {
listener.onCalibrateEnd(this);
}
} catch (final com.irurueta.numerical.LockedException e) {
throw new LockedException(e);
} catch (final com.irurueta.numerical.NotReadyException e) {
throw new NotReadyException(e);
} catch (final RobustEstimatorException e) {
throw new CalibrationException(e);
} finally {
running = false;
}
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.PROSAC;
}
/**
* Indicates whether this calibrator requires quality scores for each
* measurement/sequence or not.
*
* @return true if quality scores are required, false otherwise.
*/
@Override
public boolean isQualityScoresRequired() {
return true;
}
/**
* Sets quality scores corresponding to each provided sample.
* This method is used internally and does not check whether instance is
* locked or not.
*
* @param qualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than 4 samples.
*/
private void internalSetQualityScores(final double[] qualityScores) {
if (qualityScores == null
|| qualityScores.length < TurntableGyroscopeCalibrator.MINIMUM_MEASUREMENTS_COMMON_Z_AXIS) {
throw new IllegalArgumentException();
}
this.qualityScores = qualityScores;
}
}