Package com.irurueta.navigation.inertial.calibration.magnetometer

Class KnownFrameMagnetometerLinearLeastSquaresCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.KnownFrameMagnetometerLinearLeastSquaresCalibratorTest

All Implemented Interfaces:

KnownFrameMagnetometerCalibratorListener<KnownFrameMagnetometerLinearLeastSquaresCalibrator>, KnownFrameMagnetometerLinearLeastSquaresCalibratorListener

class KnownFrameMagnetometerLinearLeastSquaresCalibratorTest
extends Object
implements KnownFrameMagnetometerLinearLeastSquaresCalibratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	calibrateEnd
private int	calibrateStart
private static final Calendar	END_CALENDAR
private static final long	END_TIMESTAMP_MILLIS
private static final double	LARGE_ABSOLUTE_ERROR
private static final int	LARGE_MEASUREMENT_NUMBER
private static final double	MAGNETOMETER_NOISE_STD
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_HARD_IRON
private static final double	MAX_HEIGHT_METERS
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MAX_SOFT_IRON
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_HARD_IRON
private static final double	MIN_HEIGHT_METERS
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	MIN_SOFT_IRON
private static final int	SMALL_MEASUREMENT_NUMBER
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
KnownFrameMagnetometerLinearLeastSquaresCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
private void	checkLocked(KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
private static com.irurueta.navigation.frames.NEDPosition	createPosition(com.irurueta.statistics.UniformRandomizer randomizer)
private static long	createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.navigation.frames.CoordinateTransformation	generateBodyC(com.irurueta.statistics.UniformRandomizer randomizer)
private static double[]	generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)
private static FrameBodyMagneticFluxDensity	generateMeasure(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static FrameBodyMagneticFluxDensity	generateMeasureAtOrientation(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static FrameBodyMagneticFluxDensity	generateMeasureAtPosition(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, com.irurueta.navigation.frames.NEDPosition position)
private static BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static List<FrameBodyMagneticFluxDensity>	generateMeasurementsMultipleOrientationsWithSamePosition(double[] hardIron, com.irurueta.algebra.Matrix softIron, int numberOfMeasurements, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
private static List<FrameBodyMagneticFluxDensity>	generateMeasurementsMultiplePositionsWithSameOrientation(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.algebra.Matrix	generateSoftIronCommonAxis()
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
void	onCalibrateEnd(KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
void	onCalibrateStart(KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseSmallNumberOfMeasurements()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithNoiseSmallNumberOfMeasurements()
(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	testConstructor2()
(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	testGetSetListener()
(package private) void	testGetSetMagneticModel()
(package private) void	testGetSetMeasurements()
(package private) void	testIsReady()
(package private) void	testIsSetCommonAxisUsed()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

MIN_HARD_IRON

private static final double MIN_HARD_IRON

See Also:

• Constant Field Values

MAX_HARD_IRON

private static final double MAX_HARD_IRON

See Also:

• Constant Field Values

MIN_SOFT_IRON

private static final double MIN_SOFT_IRON

See Also:

• Constant Field Values

MAX_SOFT_IRON

private static final double MAX_SOFT_IRON

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_METERS

private static final double MIN_HEIGHT_METERS

See Also:

• Constant Field Values

MAX_HEIGHT_METERS

private static final double MAX_HEIGHT_METERS

See Also:

• Constant Field Values

SMALL_MEASUREMENT_NUMBER

private static final int SMALL_MEASUREMENT_NUMBER

See Also:

• Constant Field Values

LARGE_MEASUREMENT_NUMBER

private static final int LARGE_MEASUREMENT_NUMBER

See Also:

• Constant Field Values

MAGNETOMETER_NOISE_STD

private static final double MAGNETOMETER_NOISE_STD

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

START_CALENDAR

private static final Calendar START_CALENDAR

END_CALENDAR

private static final Calendar END_CALENDAR

START_TIMESTAMP_MILLIS

private static final long START_TIMESTAMP_MILLIS

END_TIMESTAMP_MILLIS

private static final long END_TIMESTAMP_MILLIS

calibrateStart

private int calibrateStart

calibrateEnd

private int calibrateEnd

Constructor Details

KnownFrameMagnetometerLinearLeastSquaresCalibratorTest

KnownFrameMagnetometerLinearLeastSquaresCalibratorTest()

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

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

testIsReady

@Test
void testIsReady()
          throws com.irurueta.navigation.LockedException,
IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.LockedException

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testGetSetMagneticModel

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

Throws:

com.irurueta.navigation.LockedException

testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndMagneticModel

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultipleOrientationsForGeneralCaseWithNoiseSmallNumberOfMeasurements

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndMagneticModel

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseSmallNumberOfMeasurements

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

com.irurueta.algebra.WrongSizeException

onCalibrateStart

public void onCalibrateStart(KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)

Specified by:

onCalibrateStart in interface KnownFrameMagnetometerCalibratorListener<KnownFrameMagnetometerLinearLeastSquaresCalibrator>

onCalibrateEnd

public void onCalibrateEnd(KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)

Specified by:

onCalibrateEnd in interface KnownFrameMagnetometerCalibratorListener<KnownFrameMagnetometerLinearLeastSquaresCalibrator>

reset

private void reset()

checkLocked

private void checkLocked(KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)

assertEstimatedResult

private static void assertEstimatedResult(com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 KnownFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
                                   throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMeasurementsMultipleOrientationsWithSamePosition

private static List<FrameBodyMagneticFluxDensity> generateMeasurementsMultipleOrientationsWithSamePosition(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 int numberOfMeasurements,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
                                                                                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasurementsMultiplePositionsWithSameOrientation

private static List<FrameBodyMagneticFluxDensity> generateMeasurementsMultiplePositionsWithSameOrientation(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer)
                                                                                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasureAtOrientation

private static FrameBodyMagneticFluxDensity generateMeasureAtOrientation(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.CoordinateTransformation cnb)
                                                                  throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasureAtPosition

private static FrameBodyMagneticFluxDensity generateMeasureAtPosition(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 com.irurueta.navigation.frames.NEDPosition position)
                                                               throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasure

private static FrameBodyMagneticFluxDensity generateMeasure(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.CoordinateTransformation cnb)
                                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateBodyC

private static com.irurueta.navigation.frames.CoordinateTransformation generateBodyC(com.irurueta.statistics.UniformRandomizer randomizer)

generateMeasuredMagneticFluxDensity

private static BodyMagneticFluxDensity generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input,
 double[] hardIron,
 com.irurueta.algebra.Matrix softIron)

generateHardIron

private static double[] generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)

generateSoftIronGeneral

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

generateSoftIronCommonAxis

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

createPosition

private static com.irurueta.navigation.frames.NEDPosition createPosition(com.irurueta.statistics.UniformRandomizer randomizer)

createTimestamp

private static long createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)