# SensorFusionResult.Estimate

Artifact: [androidx.core.uwb:uwb](https://developer.android.com/jetpack/androidx/releases/core-uwb) [View Source](https://cs.android.com/search?q=file:androidx/core/uwb/SensorFusionResult.kt+class:androidx.core.uwb.SensorFusionResult.Estimate) Added in [1.1.0-alpha03](https://developer.android.com/jetpack/androidx/releases/core-uwb#1.1.0-alpha03)

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```
sealed interface SensorFusionResult.Estimate : SensorFusionResult
```

<br />

Known direct subclasses [SensorFusionResult.DriftingEstimate](https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.DriftingEstimate), [SensorFusionResult.ImpreciseEstimate](https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.ImpreciseEstimate), [SensorFusionResult.PreciseEstimate](https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.PreciseEstimate)

|---|---|
| `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.DriftingEstimate` | An `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate` backed by odometry data only because raw UWB range has failed. |
| `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.ImpreciseEstimate` | An `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate` backed by raw UWB range only because the odometry sensor has failed. |
| `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.PreciseEstimate` | An `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate` backed by both odometry data and range data. |

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An estimate of the peer device's position produced from the sensor fusion algorithm.

The angles are the angle to the peer in the local device frame, that is, this device's [Android Sensor Coordinate System](https://developer.android.com/guide/topics/sensors/sensors_overview#sensors-coords). This differs from the boresight-relative angle of arrival measured by the UWB hardware and reported by a standard ranging session, see `https://developer.android.com/reference/kotlin/androidx/core/uwb/RangingPosition`.

## Summary

| ### Public properties |
|---|---|
| `https://developer.android.com/reference/kotlin/androidx/core/uwb/RangingMeasurement?` | `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate#azimuth()` The azimuth angle in degrees (`[-180, 180]`) of the ranging device, or null if not available. |
| `https://developer.android.com/reference/kotlin/androidx/core/uwb/UwbDevice` | `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate#device()` The peer UWB device. |
| `https://developer.android.com/reference/kotlin/androidx/core/uwb/RangingMeasurement` | `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate#distance()` The line-of-sight distance in meters of the ranging device. |
| `https://kotlinlang.org/api/core/kotlin-stdlib/kotlin/-long/index.html` | `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate#elapsedRealtimeNanos()` The elapsed realtime in nanos from when the system booted up to this position estimate. |
| `https://developer.android.com/reference/kotlin/androidx/core/uwb/RangingMeasurement?` | `https://developer.android.com/reference/kotlin/androidx/core/uwb/SensorFusionResult.Estimate#elevation()` The elevation angle in degrees (`[-90, 90]`) of the ranging device, or null if not available. |

## Public properties

### azimuth

Added in [1.1.0-alpha03](https://developer.android.com/jetpack/androidx/releases/core-uwb#1.1.0-alpha03)

```
val azimuth: RangingMeasurement?
```

The azimuth angle in degrees (`[-180, 180]`) of the ranging device, or null if not available. The angle is measured about the device's Z axis starting from its Y axis, the top edge of the device, and is positive clockwise when viewed from the front of the screen, so a positive azimuth means the peer is to the right of the device.

### device

```
val device: UwbDevice
```

The peer UWB device.

### distance

Added in [1.1.0-alpha03](https://developer.android.com/jetpack/androidx/releases/core-uwb#1.1.0-alpha03)

```
val distance: RangingMeasurement
```

The line-of-sight distance in meters of the ranging device.

### elapsedRealtimeNanos

Added in [1.1.0-alpha03](https://developer.android.com/jetpack/androidx/releases/core-uwb#1.1.0-alpha03)

```
val elapsedRealtimeNanos: Long
```

The elapsed realtime in nanos from when the system booted up to this position estimate.

### elevation

Added in [1.1.0-alpha03](https://developer.android.com/jetpack/androidx/releases/core-uwb#1.1.0-alpha03)

```
val elevation: RangingMeasurement?
```

The elevation angle in degrees (`[-90, 90]`) of the ranging device, or null if not available. The angle is measured out of the device's XY plane and is positive towards the device's Z axis, so a positive elevation means the peer is towards the front of the screen.