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

Class MSACRobustKnownBiasAndFrameAccelerometerCalibratorTest

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.MSACRobustKnownBiasAndFrameAccelerometerCalibratorTest
All Implemented Interfaces:
RobustKnownBiasAndFrameAccelerometerCalibratorListener
class MSACRobustKnownBiasAndFrameAccelerometerCalibratorTest extends Object implements RobustKnownBiasAndFrameAccelerometerCalibratorListener

  • 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
      See Also:

    • MAX_HEIGHT

      private static final double MAX_HEIGHT
      See Also:

    • MEASUREMENT_NUMBER

      private static final int MEASUREMENT_NUMBER
      See Also:

    • LARGE_MEASUREMENT_NUMBER

      private static final int LARGE_MEASUREMENT_NUMBER
      See Also:

    • OUTLIER_PERCENTAGE

      private static final int OUTLIER_PERCENTAGE
      See Also:

    • THRESHOLD

      private static final double THRESHOLD
      See Also:

    • LARGE_THRESHOLD

      private static final double LARGE_THRESHOLD
      See Also:

    • ABSOLUTE_ERROR

      private static final double ABSOLUTE_ERROR
      See Also:

    • LARGE_ABSOLUTE_ERROR

      private static final double LARGE_ABSOLUTE_ERROR
      See Also:

    • OUTLIER_ERROR_FACTOR

      private static final double OUTLIER_ERROR_FACTOR
      See Also:

    • TIMES

      private static final int TIMES
      See Also:

    • calibrateStart

      private int calibrateStart

    • calibrateEnd

      private int calibrateEnd

    • calibrateNextIteration

      private int calibrateNextIteration

    • calibrateProgressChange

      private int calibrateProgressChange

  • Constructor Details

    • MSACRobustKnownBiasAndFrameAccelerometerCalibratorTest

      MSACRobustKnownBiasAndFrameAccelerometerCalibratorTest()

  • Method Details

    • testConstructor

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

    • testGetSetThreshold

      @Test void testGetSetThreshold() 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

    • testSetBiasCoordinates1

      @Test void testSetBiasCoordinates1() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testSetBiasCoordinates2

      @Test void testSetBiasCoordinates2() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetBiasAsTriad

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

    • testGetSetBiasArray

      @Test void testGetSetBiasArray() 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

    • testGetSetInitialSx

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

    • testGetSetInitialSy

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

    • testGetSetInitialSz

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

    • testGetSetInitialMxy

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

    • testGetSetInitialMxz

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

    • testGetSetInitialMyx

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

    • testGetSetInitialMyz

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

    • testGetSetInitialMzx

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

    • testGetSetInitialMzy

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

    • testSetInitialScalingFactors

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

    • testGetSetInitialCrossCouplingErrors

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

    • testSetInitialScalingFactorsAndCrossCouplingErrors

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

    • testGetSetInitialMa

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

    • 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

    • testIsSetLinearCalibratorUsed

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

    • testIsSetPreliminarySolutionRefined

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

    • testGetSetProgressDelta

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

    • testGetSetConfidence

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

    • testGetSetMaxIterations

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

    • testIsSetResultRefined

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

    • testIsSetCovarianceKept

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

    • testGetSetQualityScores

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

    • testGetSetPreliminarySubsetSize

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

    • testCalibrateGeneralNoNoiseInlier

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

    • testCalibrateGeneralWithInlierNoise

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

    • testCalibrateCommonAxisWithInlierNoise

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

    • testCalibrateCommonAxisNoNoiseInlier

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

    • testCalibrateGeneralNoRefinement

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

    • testCalibrateGeneralNonLinearWithInitialValue

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

    • onCalibrateStart

      public void onCalibrateStart(RobustKnownBiasAndFrameAccelerometerCalibrator calibrator)
      Specified by:
      onCalibrateStart in interface RobustKnownBiasAndFrameAccelerometerCalibratorListener

    • onCalibrateEnd

      public void onCalibrateEnd(RobustKnownBiasAndFrameAccelerometerCalibrator calibrator)
      Specified by:
      onCalibrateEnd in interface RobustKnownBiasAndFrameAccelerometerCalibratorListener

    • onCalibrateNextIteration

      public void onCalibrateNextIteration(RobustKnownBiasAndFrameAccelerometerCalibrator calibrator, int iteration)
      Specified by:
      onCalibrateNextIteration in interface RobustKnownBiasAndFrameAccelerometerCalibratorListener

    • onCalibrateProgressChange

      public void onCalibrateProgressChange(RobustKnownBiasAndFrameAccelerometerCalibrator calibrator, float progress)
      Specified by:
      onCalibrateProgressChange in interface RobustKnownBiasAndFrameAccelerometerCalibratorListener

    • reset

      private void reset()

    • checkLocked

      private void checkLocked(MSACRobustKnownBiasAndFrameAccelerometerCalibrator calibrator)

    • assertEstimatedResult

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

    • checkCommonAxisCovariance

      private static void checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)

    • checkGeneralCovariance

      private static void checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)

    • 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()