Package com.irurueta.navigation.inertial.calibration.generators

Class AccelerometerMeasurementsGeneratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGeneratorTest

All Implemented Interfaces:

AccelerometerMeasurementsGeneratorListener, MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

class AccelerometerMeasurementsGeneratorTest
extends Object
implements AccelerometerMeasurementsGeneratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	DEG_TO_RAD
private int	dynamicIntervalDetected
private int	dynamicIntervalSkipped
private int	error
private int	generatedMeasurement
private int	initializationCompleted
private int	initializationStarted
private static final double	LARGE_ABSOLUTE_ERROR
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 final List<StandardDeviationBodyKinematics>	measurements
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 int	reset
private static final double	SMALL_ABSOLUTE_ERROR
private static final double	SMALL_ROOT_PSD
private int	staticIntervalDetected
private int	staticIntervalSkipped
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
AccelerometerMeasurementsGeneratorTest()

Method Summary

Modifier and Type	Method	Description
private void	checkLocked(AccelerometerMeasurementsGenerator generator)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static void	generateDynamicSamples(AccelerometerMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.ECEFFrame ecefFrame, com.irurueta.navigation.frames.NEDFrame nedFrame, IMUErrors errors, boolean changePosition)
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 void	generateStaticSamples(AccelerometerMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, IMUErrors errors)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onDynamicIntervalDetected(AccelerometerMeasurementsGenerator generator)
void	onDynamicIntervalSkipped(AccelerometerMeasurementsGenerator generator)
void	onError(AccelerometerMeasurementsGenerator generator, TriadStaticIntervalDetector.ErrorReason reason)
void	onGeneratedMeasurement(AccelerometerMeasurementsGenerator generator, StandardDeviationBodyKinematics measurement)
void	onInitializationCompleted(AccelerometerMeasurementsGenerator generator, double baseNoiseLevel)
void	onInitializationStarted(AccelerometerMeasurementsGenerator generator)
void	onReset(AccelerometerMeasurementsGenerator generator)
void	onStaticIntervalDetected(AccelerometerMeasurementsGenerator generator)
void	onStaticIntervalSkipped(AccelerometerMeasurementsGenerator generator)
private void	reset()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThreshold()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement()
(package private) void	testGetSetInitialStaticSamples()
(package private) void	testGetSetInstantaneousNoiseLevelFactor()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxDynamicSamples()
(package private) void	testGetSetMinStaticSamples()
(package private) void	testGetSetThresholdFactor()
(package private) void	testGetSetTimeInterval1()
(package private) void	testGetSetTimeInterval2()
(package private) void	testGetSetWindowSize()
(package private) void	testProcessCalibrateAndResetWithNoise()
(package private) void	testProcessErrorWithExcessiveOverallNoise()
(package private) void	testProcessSkipDynamicInterval()
(package private) void	testProcessSkipStaticInterval()
(package private) void	testProcessSmallNoiseOnlyRotationAndCommonAxis()
(package private) void	testProcessSmallNoiseWithRotationAndPositionChange()

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

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

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

initializationStarted

private int initializationStarted

initializationCompleted

private int initializationCompleted

error

private int error

staticIntervalDetected

private int staticIntervalDetected

dynamicIntervalDetected

private int dynamicIntervalDetected

staticIntervalSkipped

private int staticIntervalSkipped

dynamicIntervalSkipped

private int dynamicIntervalSkipped

generatedMeasurement

private int generatedMeasurement

reset

private int reset

measurements

private final List<StandardDeviationBodyKinematics> measurements

Constructor Details

AccelerometerMeasurementsGeneratorTest

AccelerometerMeasurementsGeneratorTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testGetSetTimeInterval1

@Test
void testGetSetTimeInterval1()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetTimeInterval2

@Test
void testGetSetTimeInterval2()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetMinStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMaxDynamicSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetSetWindowSize

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetThresholdFactor

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInstantaneousNoiseLevelFactor

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThreshold

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement

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

Throws:

com.irurueta.navigation.LockedException

testProcessCalibrateAndResetWithNoise

@Test
void testProcessCalibrateAndResetWithNoise()
                                    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

testProcessErrorWithExcessiveOverallNoise

@Test
void testProcessErrorWithExcessiveOverallNoise()
                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testProcessSmallNoiseOnlyRotationAndCommonAxis

@Test
void testProcessSmallNoiseOnlyRotationAndCommonAxis()
                                             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

testProcessSmallNoiseWithRotationAndPositionChange

@Test
void testProcessSmallNoiseWithRotationAndPositionChange()
                                                 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

testProcessSkipStaticInterval

@Test
void testProcessSkipStaticInterval()
                            throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testProcessSkipDynamicInterval

@Test
void testProcessSkipDynamicInterval()
                             throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

onInitializationStarted

public void onInitializationStarted(AccelerometerMeasurementsGenerator generator)

Specified by:

onInitializationStarted in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onInitializationCompleted

public void onInitializationCompleted(AccelerometerMeasurementsGenerator generator,
 double baseNoiseLevel)

Specified by:

onInitializationCompleted in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onError

public void onError(AccelerometerMeasurementsGenerator generator,
 TriadStaticIntervalDetector.ErrorReason reason)

Specified by:

onError in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onStaticIntervalDetected

public void onStaticIntervalDetected(AccelerometerMeasurementsGenerator generator)

Specified by:

onStaticIntervalDetected in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onDynamicIntervalDetected

public void onDynamicIntervalDetected(AccelerometerMeasurementsGenerator generator)

Specified by:

onDynamicIntervalDetected in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onStaticIntervalSkipped

public void onStaticIntervalSkipped(AccelerometerMeasurementsGenerator generator)

Specified by:

onStaticIntervalSkipped in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onDynamicIntervalSkipped

public void onDynamicIntervalSkipped(AccelerometerMeasurementsGenerator generator)

Specified by:

onDynamicIntervalSkipped in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onGeneratedMeasurement

public void onGeneratedMeasurement(AccelerometerMeasurementsGenerator generator,
 StandardDeviationBodyKinematics measurement)

Specified by:

onGeneratedMeasurement in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

onReset

public void onReset(AccelerometerMeasurementsGenerator generator)

Specified by:

onReset in interface MeasurementsGeneratorListener<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

reset

private void reset()

checkLocked

private void checkLocked(AccelerometerMeasurementsGenerator generator)

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

generateMaGeneral

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

generateStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private static void generateDynamicSamples(AccelerometerMeasurementsGenerator generator,
 int numSamples,
 BodyKinematics trueKinematics,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 com.irurueta.navigation.frames.NEDFrame nedFrame,
 IMUErrors errors,
 boolean changePosition)
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException