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

Class MSACRobustKnownFrameAccelerometerCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.accelerometer.MSACRobustKnownFrameAccelerometerCalibratorTest

All Implemented Interfaces:

RobustKnownFrameAccelerometerCalibratorListener

class MSACRobustKnownFrameAccelerometerCalibratorTest
extends Object
implements RobustKnownFrameAccelerometerCalibratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	calibrateEnd
private int	calibrateNextIteration
private int	calibrateProgressChange
private int	calibrateStart
private static final double	DEG_TO_RAD
private static final double	LARGE_ABSOLUTE_ERROR
private static final int	LARGE_MEASUREMENT_NUMBER
private static final double	LARGE_THRESHOLD
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final int	MEASUREMENT_NUMBER
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	OUTLIER_ERROR_FACTOR
private static final int	OUTLIER_PERCENTAGE
private static final double	THRESHOLD
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
MSACRobustKnownFrameAccelerometerCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertCovariance(MSACRobustKnownFrameAccelerometerCalibrator calibrator)
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, MSACRobustKnownFrameAccelerometerCalibrator calibrator, boolean checkCovariance)
private static void	checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)
private void	checkLocked(MSACRobustKnownFrameAccelerometerCalibrator calibrator)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static com.irurueta.algebra.Matrix	generateGg()
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMaGeneral()
private static com.irurueta.algebra.Matrix	generateMg()
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onCalibrateEnd(RobustKnownFrameAccelerometerCalibrator calibrator)
void	onCalibrateNextIteration(RobustKnownFrameAccelerometerCalibrator calibrator, int iteration)
void	onCalibrateProgressChange(RobustKnownFrameAccelerometerCalibrator calibrator, float progress)
void	onCalibrateStart(RobustKnownFrameAccelerometerCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateCommonAxisNoNoiseInlier()
(package private) void	testCalibrateCommonAxisWithInlierNoise()
(package private) void	testCalibrateGeneralNonLinearWithInitialValue()
(package private) void	testCalibrateGeneralNoNoiseInlier()
(package private) void	testCalibrateGeneralNoRefinement()
(package private) void	testCalibrateGeneralWithInlierNoise()
(package private) void	testConstructor()
(package private) void	testGetSetConfidence()
(package private) void	testGetSetInitialBias()
(package private) void	testGetSetInitialBiasAsMatrix()
(package private) void	testGetSetInitialBiasAsTriad()
(package private) void	testGetSetInitialBiasX()
(package private) void	testGetSetInitialBiasXAsAcceleration()
(package private) void	testGetSetInitialBiasY()
(package private) void	testGetSetInitialBiasYAsAcceleration()
(package private) void	testGetSetInitialBiasZ()
(package private) void	testGetSetInitialBiasZAsAcceleration()
(package private) void	testGetSetInitialCrossCouplingErrors()
(package private) void	testGetSetInitialMa()
(package private) void	testGetSetInitialMxy()
(package private) void	testGetSetInitialMxz()
(package private) void	testGetSetInitialMyx()
(package private) void	testGetSetInitialMyz()
(package private) void	testGetSetInitialMzx()
(package private) void	testGetSetInitialMzy()
(package private) void	testGetSetInitialScalingFactors()
(package private) void	testGetSetInitialSx()
(package private) void	testGetSetInitialSy()
(package private) void	testGetSetInitialSz()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxIterations()
(package private) void	testGetSetMeasurements()
(package private) void	testGetSetPreliminarySubsetSize()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScores()
(package private) void	testGetSetThreshold()
(package private) void	testIsSetCommonAxisUsed()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetLinearCalibratorUsed()
(package private) void	testIsSetPreliminarySolutionRefined()
(package private) void	testIsSetResultRefined()
(package private) void	testSetInitialBias1()
(package private) void	testSetInitialBias2()
(package private) void	testSetInitialScalingFactorsAndCrossCouplingErrors()

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

MEASUREMENT_NUMBER

private static final int MEASUREMENT_NUMBER

See Also:

• Constant Field Values

LARGE_MEASUREMENT_NUMBER

private static final int LARGE_MEASUREMENT_NUMBER

See Also:

• Constant Field Values

OUTLIER_PERCENTAGE

private static final int OUTLIER_PERCENTAGE

See Also:

• Constant Field Values

THRESHOLD

private static final double THRESHOLD

See Also:

• Constant Field Values

LARGE_THRESHOLD

private static final double LARGE_THRESHOLD

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

OUTLIER_ERROR_FACTOR

private static final double OUTLIER_ERROR_FACTOR

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

calibrateStart

private int calibrateStart

calibrateEnd

private int calibrateEnd

calibrateNextIteration

private int calibrateNextIteration

calibrateProgressChange

private int calibrateProgressChange

Constructor Details

MSACRobustKnownFrameAccelerometerCalibratorTest

MSACRobustKnownFrameAccelerometerCalibratorTest()

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

testGetSetInitialBiasX

@Test
void testGetSetInitialBiasX()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialBiasY

@Test
void testGetSetInitialBiasY()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialBiasZ

@Test
void testGetSetInitialBiasZ()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialBiasXAsAcceleration

@Test
void testGetSetInitialBiasXAsAcceleration()
                                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialBiasYAsAcceleration

@Test
void testGetSetInitialBiasYAsAcceleration()
                                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialBiasZAsAcceleration

@Test
void testGetSetInitialBiasZAsAcceleration()
                                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetInitialBias1

@Test
void testSetInitialBias1()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetInitialBias2

@Test
void testSetInitialBias2()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialBiasAsTriad

@Test
void testGetSetInitialBiasAsTriad()

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

testGetSetInitialScalingFactors

@Test
void testGetSetInitialScalingFactors()
                              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

testGetSetInitialBias

@Test
void testGetSetInitialBias()
                    throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialBiasAsMatrix

@Test
void testGetSetInitialBiasAsMatrix()
                            throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.algebra.WrongSizeException

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,
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,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

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

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(RobustKnownFrameAccelerometerCalibrator calibrator)

Specified by:

onCalibrateStart in interface RobustKnownFrameAccelerometerCalibratorListener

onCalibrateEnd

public void onCalibrateEnd(RobustKnownFrameAccelerometerCalibrator calibrator)

Specified by:

onCalibrateEnd in interface RobustKnownFrameAccelerometerCalibratorListener

onCalibrateNextIteration

public void onCalibrateNextIteration(RobustKnownFrameAccelerometerCalibrator calibrator,
 int iteration)

Specified by:

onCalibrateNextIteration in interface RobustKnownFrameAccelerometerCalibratorListener

onCalibrateProgressChange

public void onCalibrateProgressChange(RobustKnownFrameAccelerometerCalibrator calibrator,
 float progress)

Specified by:

onCalibrateProgressChange in interface RobustKnownFrameAccelerometerCalibratorListener

reset

private void reset()

checkLocked

private void checkLocked(MSACRobustKnownFrameAccelerometerCalibrator calibrator)

assertEstimatedResult

private static void assertEstimatedResult(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 MSACRobustKnownFrameAccelerometerCalibrator calibrator,
 boolean checkCovariance)
                                   throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

assertCovariance

private static void assertCovariance(MSACRobustKnownFrameAccelerometerCalibrator 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()