Reference
| This documentation was generated with the assistance of AI. Please report any inaccuracies. |
These reports are generated during the build.
Generated Reports
| Report | Description |
|---|---|
Aggregated Maven site published to GitHub Pages: Javadoc API documentation, JaCoCo code coverage, Surefire test results, Checkstyle, SpotBugs, PMD and JXR cross-referenced source. |
|
Continuous code quality analysis: bugs, code smells, coverage, duplications, maintainability, reliability, security and technical debt ratings. |
Bibliography
Every equation, figure, and external reference used across the estimators, navigators, WMM, and calibration documentation pages is listed here, with a link to the original source where one is available online. Each page links back here; conversely, most entries below link forward to the pages that use them.
Books
[book-groves] P. D. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, 2nd ed., Artech House, 2013, ISBN 978-1-60807-005-3. Publisher page. This is the primary reference for estimators, navigators, and most of calibration. Figures redrawn in this documentation (as original SVG illustrations, not reproductions) are credited individually on the pages that use them.
Companion software
[matlab-companion] Companion MATLAB scripts for [book-groves],
github.com/ymjdz/MATLAB-Codes. Individual estimator classes link
to the specific script they port (e.g. Gravity_NED.m, Kinematics_ECEF.m, Radii_of_curvature.m).
Used by estimators and navigators.
Earth magnetic field (WMM)
[wmm-site] NOAA/NCEI, NGA, and the British Geological Survey (BGS), World Magnetic Model
(WMM). Primary links: www.ngdc.noaa.gov/geomag/WMM (main page),
www.ncei.noaa.gov/products/world-magnetic-model
(current release), coefficient
downloads, .cof file format, and the
WMM technical report describing the
spherical-harmonic equations. This library bundles the WMM-2025 coefficient set (valid 2025.0-2030.0).
Used throughout the WMM package.
[igrf-site] NOAA/NCEI, International Geomagnetic Reference Field (IGRF),
www.ngdc.noaa.gov/IAGA/vmod/igrf.html. An alternative
geomagnetic model referenced (but not implemented) by
EarthMagneticFluxDensityEstimator's Javadoc.
IMU calibration
[imu-tk] D. Tedaldi, A. Pretto, E. Menegatti, "A Robust and Easy to Implement Method for IMU
Calibration without External Equipments," IEEE International Conference on Robotics and Automation
(ICRA), 2014. PDF. Reference
implementation: github.com/Kyle-ak/imu_tk. This is the basis for
EasyGyroscopeCalibrator/KnownBiasEasyGyroscopeCalibrator and the
static/dynamic interval philosophy used throughout
Static/Dynamic Interval Detection and Measurement Generation and the accelerometer’s gravity-norm family
(Accelerometer Calibration).
[suh2010] Y. S. Suh, "Orientation estimation using a quaternion-based indirect Kalman
filter with adaptive estimation of external acceleration," IEEE Transactions on Instrumentation and
Measurement, 2010. Used by SuhQuaternionStepIntegrator.
[trawny2005] N. Trawny, S. I. Roumeliotis, "Indirect Kalman Filter for 3D Attitude
Estimation," University of Minnesota, Dept. of Computer Science & Engineering, Technical Report
2005-002, 2005. Used by TrawnyQuaternionStepIntegrator.
[yuan2015] S. Yuan, "Quaternion-based Unscented Kalman Filter for Real-time Attitude
Estimation," 2015. Used by YuanQuaternionStepIntegrator.