ErrorEquations.hpp

Go to the documentation of this file.

// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <Eigen/Core>
 
namespace NAV
{
[[nodiscard]] Eigen::Matrix3d e_F_dpsi_dpsi(double omega_ie);
 
[[nodiscard]] Eigen::Matrix3d e_F_dpsi_dw(const Eigen::Matrix3d& e_Dcm_b);
 
[[nodiscard]] Eigen::Matrix3d e_F_dv_dpsi(const Eigen::Vector3d& e_force_ib);
 
[[nodiscard]] Eigen::Matrix3d e_F_dv_dv(double omega_ie);
 
[[nodiscard]] Eigen::Matrix3d e_F_dv_dr(const Eigen::Vector3d& e_position, const Eigen::Vector3d& e_gravitation, double r_eS_e, const Eigen::Vector3d& e_omega_ie);
 
[[nodiscard]] Eigen::Matrix3d e_F_dv_df(const Eigen::Matrix3d& e_Dcm_b);
 
[[nodiscard]] Eigen::Matrix3d e_F_dr_dv();
 
[[nodiscard]] Eigen::Matrix3d e_F_df_df(const Eigen::Vector3d& beta_a);
 
[[nodiscard]] Eigen::Matrix3d e_F_dw_dw(const Eigen::Vector3d& beta_omega);
 
} // namespace NAV