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0.5.0
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0.5.0
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Error Equations for the ECEF frame. More...
Go to the source code of this file.
Namespaces | |
| namespace | NAV |
Functions | |
| template<typename Derived> | |
| Eigen::Matrix< typename Derived::Scalar, 3, 3 > | NAV::e_F_df_df (const Eigen::MatrixBase< Derived > &beta_a) |
| Calculates the matrix 𝐅_𝛿f'_𝛿f. | |
| template<typename T> | |
| Eigen::Matrix3< T > | NAV::e_F_dpsi_dpsi (const T &omega_ie) |
| Calculates the matrix 𝐅_𝜓'_𝜓 | |
| template<typename Derived> | |
| Eigen::Matrix< typename Derived::Scalar, 3, 3 > | NAV::e_F_dpsi_dw (const Eigen::MatrixBase< Derived > &e_Dcm_b) |
| Calculates the matrix 𝐅_𝜓'_𝛿ω | |
| template<typename Derived1, typename Derived2> | |
| Eigen::Matrix< typename Derived2::Scalar, 4, 3 > | NAV::e_F_dq_dGyroBias (const Eigen::QuaternionBase< Derived1 > &b_quat_p, const Eigen::QuaternionBase< Derived2 > &e_quat_b) |
| Calculate the linearized attitude quaternion differential equation partially derived for the angular rate bias. | |
| template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5> | |
| Eigen::Matrix4< typename Derived5::Scalar > | NAV::e_F_dq_dGyroMisalignment (const Eigen::MatrixBase< Derived1 > &p_gyroScale, const Eigen::QuaternionBase< Derived2 > &p_quatGyro_ps, const Eigen::MatrixBase< Derived3 > &ps_omega_ip, const Eigen::QuaternionBase< Derived4 > &b_quat_p, const Eigen::QuaternionBase< Derived5 > &e_quat_b) |
| Calculate the linearized attitude quaternion differential equation partially derived for the gyroscope misalignment. | |
| template<typename Derived1, typename Derived2, typename Derived3, typename Derived4> | |
| Eigen::Matrix< typename Derived4::Scalar, 4, 3 > | NAV::e_F_dq_dGyroScale (const Eigen::QuaternionBase< Derived1 > &p_quatGyro_ps, const Eigen::MatrixBase< Derived2 > &ps_omega_ip, const Eigen::QuaternionBase< Derived3 > &b_quat_p, const Eigen::QuaternionBase< Derived4 > &e_quat_b) |
| Calculate the linearized attitude quaternion differential equation partially derived for the angular rate scale factor. | |
| template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5, typename Derived6> | |
| Eigen::Matrix4< typename Derived6::Scalar > | NAV::e_F_dq_dq (const Eigen::MatrixBase< Derived1 > &p_gyroBias, const Eigen::MatrixBase< Derived2 > &p_gyroScale, const Eigen::QuaternionBase< Derived3 > &p_quatGyro_ps, const Eigen::MatrixBase< Derived4 > &ps_omega_ip, const Eigen::QuaternionBase< Derived5 > &b_quat_p, const Eigen::QuaternionBase< Derived6 > &e_quat_b, double omega_ie) |
| Calculate the linearized attitude quaternion differential equation partially derived for the attitude quaternion. | |
| template<typename T> | |
| Eigen::Matrix3< T > | NAV::e_F_dr_dv () |
| Calculates the matrix 𝐅_𝛿r'_𝛿v. | |
| template<typename Derived1, typename Derived2> | |
| Eigen::Matrix< typename Derived2::Scalar, 3, 3 > | NAV::e_F_dv_dAccelBias (const Eigen::QuaternionBase< Derived1 > &b_quat_p, const Eigen::QuaternionBase< Derived2 > &e_quat_b) |
| Calculates the matrix 𝐅_𝜓'_𝛿f_p. | |
| template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5> | |
| Eigen::Matrix< typename Derived5::Scalar, 3, 4 > | NAV::e_F_dv_dAccelMisalignment (const Eigen::MatrixBase< Derived1 > &p_accelScale, const Eigen::QuaternionBase< Derived2 > &p_quatAccel_ps, const Eigen::MatrixBase< Derived3 > &ps_f_ip, const Eigen::QuaternionBase< Derived4 > &b_quat_p, const Eigen::QuaternionBase< Derived5 > &e_quat_b) |
| Calculate the linearized velocity differential equation partially derived for the accelerometer misalignment. | |
| template<typename Derived1, typename Derived2, typename Derived3, typename Derived4> | |
| Eigen::Matrix< typename Derived4::Scalar, 3, 3 > | NAV::e_F_dv_dAccelScale (const Eigen::QuaternionBase< Derived1 > &p_quatAccel_ps, const Eigen::MatrixBase< Derived2 > &ps_f_ip, const Eigen::QuaternionBase< Derived3 > &b_quat_p, const Eigen::QuaternionBase< Derived4 > &e_quat_b) |
| Calculate the linearized velocity differential equation partially derived for the acceleration bias. | |
| template<typename Derived> | |
| Eigen::Matrix< typename Derived::Scalar, 3, 3 > | NAV::e_F_dv_df_b (const Eigen::MatrixBase< Derived > &e_Dcm_b) |
| Calculates the matrix 𝐅_𝜓'_𝛿f_b. | |
| template<typename Derived> | |
| Eigen::Matrix< typename Derived::Scalar, 3, 3 > | NAV::e_F_dv_dpsi (const Eigen::MatrixBase< Derived > &e_force_ib) |
| Calculates the matrix 𝐅_𝛿v'_𝜓 | |
| template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5, typename Derived6> | |
| Eigen::Matrix< typename Derived6::Scalar, 3, 4 > | NAV::e_F_dv_dq (const Eigen::MatrixBase< Derived1 > &p_accelBias, const Eigen::MatrixBase< Derived2 > &p_accelScale, const Eigen::QuaternionBase< Derived3 > &p_quatAccel_ps, const Eigen::MatrixBase< Derived4 > &ps_f_ip, const Eigen::QuaternionBase< Derived5 > &b_quat_p, const Eigen::QuaternionBase< Derived6 > &e_quat_b) |
| Calculate the linearized velocity differential equation partially derived for the attitude. | |
| template<typename Derived1, typename Derived2, typename T> | |
| Eigen::Matrix< typename Derived1::Scalar, 3, 3 > | NAV::e_F_dv_dr (const Eigen::MatrixBase< Derived1 > &e_position, const Eigen::MatrixBase< Derived2 > &e_gravitation, const T &r_eS_e, const Eigen::Vector3d &e_omega_ie) |
| Calculates the matrix 𝐅_𝛿v'_𝛿r. | |
| template<typename T> | |
| Eigen::Matrix3< T > | NAV::e_F_dv_dv (double omega_ie) |
| Calculates the matrix 𝐅_𝛿v'_𝛿v. | |
| template<typename Derived> | |
| Eigen::Matrix< typename Derived::Scalar, 3, 3 > | NAV::e_F_dw_dw (const Eigen::MatrixBase< Derived > &beta_omega) |
| Calculates the matrix 𝐅_𝛿ω'_𝛿ω | |
| template<typename KeyType, typename T> | |
| KeyedMatrixX< T, KeyType, KeyType > | NAV::e_systemMatrix_F (const Eigen::Vector3d &ps_f_ip, const Eigen::Vector3d &ps_omega_ip, const Eigen::Quaterniond &b_quat_p, const Eigen::Vector3< T > &e_gravitation, const T &r_eS_e, std::optional< double > tau_bad, std::optional< double > tau_bgd, const Eigen::Vector3< T > &e_position, const Eigen::Quaternion< T > &e_quat_b, const Eigen::Vector3< T > &p_accelBias, const Eigen::Vector3< T > &p_gyroBias, const Eigen::Vector3< T > &p_accelScale, const Eigen::Vector3< T > &p_gyroScale, const Eigen::Quaternion< T > &p_quatAccel_ps, const Eigen::Quaternion< T > &p_quatGyro_ps, const PosVelAttDerivativeConstants &config, bool accelBiases, bool gyroBiases, bool accelScaleFactor, bool gyroScaleFactor, bool accelMisalignment, bool gyroMisalignment) |
| Calculate the linearized system matrix in Earth frame coordinates. | |
1.14.0