gcop::Ins Class Reference

#include <ins.h>

Inheritance diagram for gcop::Ins:

Collaboration diagram for gcop::Ins:

List of all members.

Public Member Functions
	Ins ()
virtual	~Ins ()
double	Step (InsState &xb, double t, const InsState &xa, const Vector6d &u, double h, const VectorXd *p=0, Matrix15d *A=0, Matrix15x6d *B=0, Matrix15Xd *C=0)
bool	Noise (Matrix15d &Q, double t, const InsState &x, const Vector3d &u, double dt, const VectorXd *p=0)
Public Attributes
double	sv
	gyro bias white noise stdev (spectral density)
double	su
	gyro bias rate-of-change white noise stdev (spectral density)
double	sa
	acceleration bias rate-of-change white noise stdev (spectral density)
double	sra
	acceleration measurement noise
Vector3d	g0
	gravity vector

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Detailed Description

An INS system

Author: Marin Kobilarov marin(at)jhu.edu

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Constructor & Destructor Documentation

Ins::Ins

(

)

References g0, sa, sra, su, and sv.

Ins::~Ins

(

)

[virtual]

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Member Function Documentation

bool Ins::Noise	(	Matrix15d &	Q,
		double	t,
		const InsState &	x,
		const Vector3d &	u,
		double	dt,
		const VectorXd *	p = 0
	)

References sa, sra, su, and sv.

double Ins::Step	(	InsState &	xb,
		double	t,
		const InsState &	xa,
		const Vector6d &	u,
		double	h,
		const VectorXd *	p = 0,
		Matrix15d *	A = 0,
		Matrix15x6d *	B = 0,
		Matrix15Xd *	C = 0
	)

References gcop::InsState::ba, gcop::InsState::bg, gcop::SO3::dexp(), gcop::SO3::exp(), g0, gcop::SO3::Instance(), gcop::InsState::p, gcop::InsState::R, and gcop::InsState::v.

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Member Data Documentation

Vector3d gcop::Ins::g0

gravity vector

Referenced by Ins(), and Step().

double gcop::Ins::sa

acceleration bias rate-of-change white noise stdev (spectral density)

Referenced by Ins(), and Noise().

double gcop::Ins::sra

acceleration measurement noise

Referenced by Ins(), and Noise().

double gcop::Ins::su

gyro bias rate-of-change white noise stdev (spectral density)

Referenced by Ins(), and Noise().

double gcop::Ins::sv

gyro bias white noise stdev (spectral density)

Referenced by Ins(), and Noise().

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The documentation for this class was generated from the following files:

• lib/systems/ins.h
• lib/systems/ins.cc