Package com.irurueta.navigation.inertial.calibration.accelerometer

Class KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibratorTest

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibratorTest
All Implemented Interfaces:
KnownBiasAndFrameAccelerometerCalibratorListener<KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator>, KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibratorListener
class KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibratorTest extends Object implements KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibratorListener

  • Field Details

    • TIME_INTERVAL_SECONDS

      private static final double TIME_INTERVAL_SECONDS
      See Also:

    • MICRO_G_TO_METERS_PER_SECOND_SQUARED

      private static final double MICRO_G_TO_METERS_PER_SECOND_SQUARED
      See Also:

    • DEG_TO_RAD

      private static final double DEG_TO_RAD
      See Also:

    • MIN_ANGLE_DEGREES

      private static final double MIN_ANGLE_DEGREES
      See Also:

    • MAX_ANGLE_DEGREES

      private static final double MAX_ANGLE_DEGREES
      See Also:

    • MIN_LATITUDE_DEGREES

      private static final double MIN_LATITUDE_DEGREES
      See Also:

    • MAX_LATITUDE_DEGREES

      private static final double MAX_LATITUDE_DEGREES
      See Also:

    • MIN_LONGITUDE_DEGREES

      private static final double MIN_LONGITUDE_DEGREES
      See Also:

    • MAX_LONGITUDE_DEGREES

      private static final double MAX_LONGITUDE_DEGREES
      See Also:

    • MIN_HEIGHT

      private static final double MIN_HEIGHT
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    • MAX_HEIGHT

      private static final double MAX_HEIGHT
      See Also:

    • SMALL_MEASUREMENT_NUMBER

      private static final int SMALL_MEASUREMENT_NUMBER
      See Also:

    • LARGE_MEASUREMENT_NUMBER

      private static final int LARGE_MEASUREMENT_NUMBER
      See Also:

    • ABSOLUTE_ERROR

      private static final double ABSOLUTE_ERROR
      See Also:

    • LARGE_ABSOLUTE_ERROR

      private static final double LARGE_ABSOLUTE_ERROR
      See Also:

    • VERY_LARGE_ABSOLUTE_ERROR

      private static final double VERY_LARGE_ABSOLUTE_ERROR
      See Also:

    • TIMES

      private static final int TIMES
      See Also:

    • calibrateStart

      private int calibrateStart

    • calibrateEnd

      private int calibrateEnd

  • Constructor Details

    • KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibratorTest

      KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibratorTest()

  • Method Details

    • testConstructor

      @Test void testConstructor() throws com.irurueta.algebra.WrongSizeException
      Throws:
      com.irurueta.algebra.WrongSizeException

    • testGetSetMeasurements

      @Test void testGetSetMeasurements() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testIsSetCommonAxisUsed

      @Test void testIsSetCommonAxisUsed() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetListener

      @Test void testGetSetListener() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasX

      @Test void testGetSetBiasX() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasY

      @Test void testGetSetBiasY() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasZ

      @Test void testGetSetBiasZ() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasXAsAcceleration

      @Test void testGetSetBiasXAsAcceleration() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasYAsAcceleration

      @Test void testGetSetBiasYAsAcceleration() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasZAsAcceleration

      @Test void testGetSetBiasZAsAcceleration() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testSetBiasCoordinates

      @Test void testSetBiasCoordinates() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testSetBiasCoordinatesAcceleration

      @Test void testSetBiasCoordinatesAcceleration() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasAsTriad

      @Test void testGetSetBiasAsTriad() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasAsArray

      @Test void testGetSetBiasAsArray() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasAsMatrix

      @Test void testGetSetBiasAsMatrix() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresAndNoNoise

      @Test void testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresAndNoNoise() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements

      @Test void testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • testCalibrateMultipleOrientationsForGeneralCaseWithNoiseSmallNumberOfMeasurements

      @Test void testCalibrateMultipleOrientationsForGeneralCaseWithNoiseSmallNumberOfMeasurements() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise

      @Test void testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresAndNoNoise

      @Test void testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresAndNoNoise() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements

      @Test void testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseSmallNumberOfMeasurements

      @Test void testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseSmallNumberOfMeasurements() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise

      @Test void testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException
      com.irurueta.navigation.NotReadyException
      CalibrationException
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

    • onCalibrateStart

      public void onCalibrateStart(KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator calibrator)
      Specified by:
      onCalibrateStart in interface KnownBiasAndFrameAccelerometerCalibratorListener<KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator>

    • onCalibrateEnd

      public void onCalibrateEnd(KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator calibrator)
      Specified by:
      onCalibrateEnd in interface KnownBiasAndFrameAccelerometerCalibratorListener<KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator>

    • reset

      private void reset()

    • checkLocked

      private void checkLocked(KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator calibrator)

    • assertEstimatedResult

      private static void assertEstimatedResult(com.irurueta.algebra.Matrix ma, KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator calibrator)

    • generateBa

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

    • generateBg

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

    • generateMaGeneral

      private static com.irurueta.algebra.Matrix generateMaGeneral() throws com.irurueta.algebra.WrongSizeException
      Throws:
      com.irurueta.algebra.WrongSizeException

    • 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

    • generateGg

      private static com.irurueta.algebra.Matrix generateGg() throws com.irurueta.algebra.WrongSizeException
      Throws:
      com.irurueta.algebra.WrongSizeException

    • getAccelNoiseRootPSD

      private static double getAccelNoiseRootPSD()

    • getGyroNoiseRootPSD

      private static double getGyroNoiseRootPSD()