Package com.irurueta.navigation.inertial.calibration

Class IMUErrorsCreatorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.IMUErrorsCreatorTest

class IMUErrorsCreatorTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	DEG_TO_RAD
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_DELTA_ANGLE_DEGREES
private static final double	MAX_DELTA_POS_METERS
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_DELTA_ANGLE_DEGREES
private static final double	MIN_DELTA_POS_METERS
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	SMALL_ABSOLUTE_ERROR
private static final double	SMALL_ROOT_PSD
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
IMUErrorsCreatorTest()

Method Summary

Modifier and Type	Method	Description
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static void	generateDynamicSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.ECEFFrame ecefFrame, com.irurueta.navigation.frames.NEDFrame nedFrame, IMUErrors errors, Random random, int startSample, boolean changePosition)
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMg()
private static void	generateStaticSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, IMUErrors errors, Random random, int startSample)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
private static double	interpolate(double value, double progress)
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testConstructor3()
(package private) void	testCreate()
(package private) void	testGetSetAccelerometerCalibrationSource()
(package private) void	testGetSetAccelerometerNoiseRootPsdSource()
(package private) void	testGetSetAccelerometerQuantizationLevel()
(package private) void	testGetSetGyroQuantizationLevel()
(package private) void	testGetSetGyroscopeCalibrationSource()
(package private) void	testGetSetGyroscopeNoiseRootPsdSource()

Methods inherited from class java.lang.Object

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

Field Details

TIME_INTERVAL_SECONDS

private static final double TIME_INTERVAL_SECONDS

See Also:

• Constant Field Values

MICRO_G_TO_METERS_PER_SECOND_SQUARED

private static final double MICRO_G_TO_METERS_PER_SECOND_SQUARED

See Also:

• Constant Field Values

DEG_TO_RAD

private static final double DEG_TO_RAD

See Also:

• Constant Field Values

MIN_ANGLE_DEGREES

private static final double MIN_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_DEGREES

private static final double MAX_ANGLE_DEGREES

See Also:

• Constant Field Values

MIN_LATITUDE_DEGREES

private static final double MIN_LATITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LATITUDE_DEGREES

private static final double MAX_LATITUDE_DEGREES

See Also:

• Constant Field Values

MIN_LONGITUDE_DEGREES

private static final double MIN_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LONGITUDE_DEGREES

private static final double MAX_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MIN_HEIGHT

private static final double MIN_HEIGHT

See Also:

• Constant Field Values

MAX_HEIGHT

private static final double MAX_HEIGHT

See Also:

• Constant Field Values

MIN_DELTA_POS_METERS

private static final double MIN_DELTA_POS_METERS

See Also:

• Constant Field Values

MAX_DELTA_POS_METERS

private static final double MAX_DELTA_POS_METERS

See Also:

• Constant Field Values

MIN_DELTA_ANGLE_DEGREES

private static final double MIN_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_DELTA_ANGLE_DEGREES

private static final double MAX_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ABSOLUTE_ERROR

private static final double SMALL_ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ROOT_PSD

private static final double SMALL_ROOT_PSD

See Also:

• Constant Field Values

Constructor Details

IMUErrorsCreatorTest

IMUErrorsCreatorTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testConstructor3

@Test
void testConstructor3()

testGetSetAccelerometerCalibrationSource

@Test
void testGetSetAccelerometerCalibrationSource()

testGetSetGyroscopeCalibrationSource

@Test
void testGetSetGyroscopeCalibrationSource()

testGetSetAccelerometerNoiseRootPsdSource

@Test
void testGetSetAccelerometerNoiseRootPsdSource()

testGetSetGyroscopeNoiseRootPsdSource

@Test
void testGetSetGyroscopeNoiseRootPsdSource()

testGetSetAccelerometerQuantizationLevel

@Test
void testGetSetAccelerometerQuantizationLevel()

testGetSetGyroQuantizationLevel

@Test
void testGetSetGyroQuantizationLevel()

testCreate

@Test
void testCreate()
         throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

generateBa

private static com.irurueta.algebra.Matrix generateBa()

generateBg

private static com.irurueta.algebra.Matrix generateBg()

generateMaCommonAxis

private static com.irurueta.algebra.Matrix generateMaCommonAxis()
                                                         throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMg

private static com.irurueta.algebra.Matrix generateMg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

getAccelNoiseRootPSD

private static double getAccelNoiseRootPSD()

getGyroNoiseRootPSD

private static double getGyroNoiseRootPSD()

generateStaticSamples

private static void generateStaticSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 int numSamples,
 BodyKinematics trueKinematics,
 IMUErrors errors,
 Random random,
 int startSample)
                                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private static void generateDynamicSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 int numSamples,
 BodyKinematics trueKinematics,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 com.irurueta.navigation.frames.NEDFrame nedFrame,
 IMUErrors errors,
 Random random,
 int startSample,
 boolean changePosition)
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

interpolate

private static double interpolate(double value,
 double progress)