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/*
* Copyright (C) 2021 Alberto Irurueta Carro ([email protected])
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.inertial.calibration;
import com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig;
import com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig;
/**
* Defines a source for position uncertainty.
*/
public interface PositionUncertaintySource {
/**
* Gets position uncertainty expressed in meters (m).
* Position uncertainty can be measured using a RandomWalkEstimator,
* which is appropriate to create a {@link INSLooselyCoupledKalmanConfig} or
* a {@link INSLooselyCoupledKalmanInitializerConfig}.
* However, to create a {@link INSLooselyCoupledKalmanInitializerConfig},
* typically position, velocity and attitude are externally measured by other
* means introducing a different amount of uncertainty (e.g. GPS).
*
* @return position uncertainty expressed in meters (m).
*/
double getPositionUncertainty();
}