Package com.irurueta.navigation.inertial.calibration.gyroscope

Class KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorTest

All Implemented Interfaces:

KnownBiasAndFrameGyroscopeCalibratorListener<KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator>, KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorListener

class KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorTest
extends Object
implements KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	calibrateEnd
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	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 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	TIME_INTERVAL_SECONDS
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator calibrator)
private static void	checkLocked(KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator 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(KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator calibrator)
void	onCalibrateStart(KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresAndNoNoise()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresAndNoNoise()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements()
(package private) void	testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise()
(package private) void	testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise()
(package private) void	testConstructor1()
(package private) void	testConstructor10()
(package private) void	testConstructor11()
(package private) void	testConstructor12()
(package private) void	testConstructor13()
(package private) void	testConstructor14()
(package private) void	testConstructor15()
(package private) void	testConstructor16()
(package private) void	testConstructor17()
(package private) void	testConstructor18()
(package private) void	testConstructor19()
(package private) void	testConstructor2()
(package private) void	testConstructor20()
(package private) void	testConstructor21()
(package private) void	testConstructor22()
(package private) void	testConstructor23()
(package private) void	testConstructor24()
(package private) void	testConstructor3()
(package private) void	testConstructor4()
(package private) void	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetSetBias()
(package private) void	testGetSetBiasAngularSpeedX()
(package private) void	testGetSetBiasAngularSpeedY()
(package private) void	testGetSetBiasAngularSpeedZ()
(package private) void	testGetSetBiasAsMatrix()
(package private) void	testGetSetBiasAsTriad()
(package private) void	testGetSetBiasX()
(package private) void	testGetSetBiasY()
(package private) void	testGetSetBiasZ()
(package private) void	testGetSetListener()
(package private) void	testGetSetMeasurements()
(package private) void	testIsSetCommonAxisUsed()
(package private) void	testSetBiasCoordinates1()
(package private) void	testSetBiasCoordinates2()

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

LARGE_MEASUREMENT_NUMBER

private static final int LARGE_MEASUREMENT_NUMBER

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

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

calibrateStart

private int calibrateStart

calibrateEnd

private int calibrateEnd

Constructor Details

KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorTest

KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibratorTest()

Method Details

testConstructor1

@Test
void testConstructor1()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor2

@Test
void testConstructor2()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor3

@Test
void testConstructor3()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor4

@Test
void testConstructor4()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor5

@Test
void testConstructor5()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor6

@Test
void testConstructor6()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor7

@Test
void testConstructor7()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor8

@Test
void testConstructor8()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor9

@Test
void testConstructor9()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor10

@Test
void testConstructor10()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor11

@Test
void testConstructor11()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor12

@Test
void testConstructor12()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor13

@Test
void testConstructor13()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor14

@Test
void testConstructor14()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor15

@Test
void testConstructor15()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor16

@Test
void testConstructor16()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor17

@Test
void testConstructor17()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor18

@Test
void testConstructor18()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor19

@Test
void testConstructor19()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor20

@Test
void testConstructor20()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor21

@Test
void testConstructor21()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor22

@Test
void testConstructor22()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor23

@Test
void testConstructor23()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor24

@Test
void testConstructor24()
                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

testGetSetBiasAngularSpeedX

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasAngularSpeedY

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasAngularSpeedZ

@Test
void testGetSetBiasAngularSpeedZ()
                          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

testGetSetBias

@Test
void testGetSetBias()
             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

testGetSetBiasAsTriad

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

Throws:

com.irurueta.navigation.LockedException

testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresAndNoNoise

@Test
void testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresAndNoNoise()
                                                                           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

testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements

@Test
void testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements()
                                                                                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

testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresAndNoNoise

@Test
void testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresAndNoNoise()
                                                                              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

testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements

@Test
void testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements()
                                                                                   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

testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise

@Test
void testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise()
                                                                           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(KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator calibrator)

Specified by:

onCalibrateStart in interface KnownBiasAndFrameGyroscopeCalibratorListener<KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator>

onCalibrateEnd

public void onCalibrateEnd(KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator calibrator)

Specified by:

onCalibrateEnd in interface KnownBiasAndFrameGyroscopeCalibratorListener<KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator>

reset

private void reset()

checkLocked

private static void checkLocked(KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator calibrator)

assertEstimatedResult

private static void assertEstimatedResult(com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator 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()