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 n_F_dpsi_dpsi(const Eigen::Vector3d& n_omega_in);
 
[[nodiscard]] Eigen::Matrix3d n_F_dpsi_dv(double latitude, double height, double R_N, double R_E);
 
[[nodiscard]] Eigen::Matrix3d n_F_dpsi_dr(double latitude, double height, const Eigen::Vector3d& n_velocity, double R_N, double R_E);
 
[[nodiscard]] Eigen::Matrix3d n_F_dpsi_dw(const Eigen::Matrix3d& n_Dcm_b);
 
[[nodiscard]] Eigen::Matrix3d n_F_dv_dpsi(const Eigen::Vector3d& n_force_ib);
 
[[nodiscard]] Eigen::Matrix3d n_F_dv_dv(const Eigen::Vector3d& n_velocity, double latitude, double height, double R_N, double R_E);
 
[[nodiscard]] Eigen::Matrix3d n_F_dv_dr(const Eigen::Vector3d& n_velocity, double latitude, double height, double R_N, double R_E, double g_0, double r_eS_e);
 
[[nodiscard]] Eigen::Matrix3d n_F_dv_df(const Eigen::Matrix3d& n_Dcm_b);
 
[[nodiscard]] Eigen::Matrix3d n_F_dr_dv(double latitude, double height, double R_N, double R_E);
 
[[nodiscard]] Eigen::Matrix3d n_F_dr_dr(const Eigen::Vector3d& n_velocity, double latitude, double height, double R_N, double R_E);
 
[[nodiscard]] Eigen::Matrix3d n_F_df_df(const Eigen::Vector3d& beta_a);
 
[[nodiscard]] Eigen::Matrix3d n_F_dw_dw(const Eigen::Vector3d& beta_omega);
 
} // namespace NAV