Inertial Measurement Integrator. More...

Classes
struct	Measurement
	Inertial Measurement. More...

Public Types
enum class	IntegrationAlgorithm : uint8_t { SingleStepRungeKutta1 , SingleStepRungeKutta2 , SingleStepHeun2 , SingleStepRungeKutta3 , SingleStepHeun3 , SingleStepRungeKutta4 , MultiStepRK3 , MultiStepRK4 , COUNT }
	Available Integration Algorithms. More...

enum class	IntegrationFrame : uint8_t { ECEF , NED }
	Available Integration Frames. More...

Public Member Functions
void	applySensorBiasesIncrements (const Eigen::Vector3d &p_deltaBiasAcceleration, const Eigen::Vector3d &p_deltaBiasAngularRate)
	Sets the sensor biases increment.

void	applyStateErrors_e (const Eigen::Vector3d &e_positionError, const Eigen::Vector3d &e_velocityError, const Eigen::Vector3d &e_attitudeError_b)
	Apply the errors to the latest state.

void	applyStateErrors_n (const Eigen::Vector3d &lla_positionError, const Eigen::Vector3d &n_velocityError, const Eigen::Vector3d &n_attitudeError_b)
	Apply the errors to the latest state.

std::shared_ptr< PosVelAtt >	calcInertialSolution (const InsTime &obsTime, const Eigen::Vector3d &p_acceleration, const Eigen::Vector3d &p_angularRate, const ImuPos &imuPos)
	Calculates the inertial navigation solution.

std::shared_ptr< PosVelAtt >	calcInertialSolutionDelta (const InsTime &obsTime, const double &dt, const Eigen::Vector3d &p_deltaVelocity, const Eigen::Vector3d &p_deltaTheta, const ImuPos &imuPos)
	Calculates the inertial navigation solution.

IntegrationFrame	getIntegrationFrame () const
	Returns the selected integration frame.

std::optional< std::reference_wrapper< const PosVelAtt > >	getLatestState () const
	Get the latest state if it exists.

const ScrollingBuffer< Measurement > &	getMeasurements () const
	Get the measurements buffer.

bool	hasInitialPosition () const
	Checks if an initial position is set.

std::optional< Eigen::Vector3d >	p_calcCurrentAcceleration () const
	Calculate the current acceleration, if measurements area available.

std::optional< Eigen::Vector3d >	p_calcCurrentAngularRate () const
	Calculate the current angular rate, if measurements area available.

const Eigen::Vector3d &	p_getLastAccelerationBias () const
	Return the last acceleration bias in platform frame coordinates in [m/s^2].

const Eigen::Vector3d &	p_getLastAngularRateBias () const
	Return the last angular rate bias in platform frame coordinates in [rad/s].

void	reset ()
	Clears all internal data.

void	setInitialState (const PosVelAtt &state)
	Sets the initial state.

void	setState (const PosVelAtt &state)
	Pushes the state to the list of states.

void	setTotalSensorBiases (const Eigen::Vector3d &p_biasAcceleration, const Eigen::Vector3d &p_biasAngularRate)
	Sets the sensor biases total values.

Private Member Functions
std::shared_ptr< PosVelAtt >	calcInertialSolutionFromMeasurementBuffer (const ImuPos &imuPos)
	Calculates the inertial navigation solution.

void	setBufferSizes ()
	Resizes the measurement and state buffers depending on the integration algorithm.

Private Attributes
IntegrationAlgorithm	_integrationAlgorithm
	Integration algorithm used for the update.

IntegrationFrame	_integrationFrame
	Frame to integrate the observations in.

ScrollingBuffer< Measurement >	_measurements
	List of measurements. Length depends on algorithm used.

PosVelAttDerivativeConstants< double >	_posVelAttDerivativeConstants
	Settings for the models to use.

ScrollingBuffer< PosVelAtt >	_states
	List of states. Length depends on algorithm used.

Eigen::Vector3d	p_lastBiasAcceleration
	Acceleration bias in platform frame coordinates in [m/s^2].

Eigen::Vector3d	p_lastBiasAngularRate
	Angular rate bias in platform frame coordinates in [rad/s].

Friends
void	from_json (const json &j, InertialIntegrator &data)
	Read info from a json object.

bool	InertialIntegratorGui (const char *label, InertialIntegrator &integrator, float width=250.0F)
	Shows a GUI for advanced configuration of the InertialIntegrator.

void	to_json (json &j, const InertialIntegrator &data)
	Write info to a json object.

Detailed Description

Inertial Measurement Integrator.

Member Enumeration Documentation

◆ IntegrationAlgorithm

enum class NAV::InertialIntegrator::IntegrationAlgorithm : uint8_t

strong

Available Integration Algorithms.

Enumerator
SingleStepRungeKutta1	Runge-Kutta 1st order (explicit) / (Forward) Euler method.
SingleStepRungeKutta2	Runge-Kutta 2nd order (explicit) / Explicit midpoint method.
SingleStepHeun2	Heun's method (2nd order) (explicit)
SingleStepRungeKutta3	Runge-Kutta 3rd order (explicit) / Simpson's rule.
SingleStepHeun3	Heun's method (3nd order) (explicit)
SingleStepRungeKutta4	Runge-Kutta 4th order (explicit)
MultiStepRK3	Multistep Runge-Kutta 3rd order (explicit) / Simpson's rule (taking 2 old epochs into account)
MultiStepRK4	Multistep Runge-Kutta 4th order (explicit) (taking 2 old epochs into account)
COUNT	Amount of available integration algorithms.

◆ IntegrationFrame

enum class NAV::InertialIntegrator::IntegrationFrame : uint8_t

strong

Available Integration Frames.

Enumerator
ECEF	Earth-Centered Earth-Fixed frame.
NED	Local North-East-Down frame.

Member Function Documentation

◆ applySensorBiasesIncrements()

void NAV::InertialIntegrator::applySensorBiasesIncrements	(	const Eigen::Vector3d &	p_deltaBiasAcceleration,
		const Eigen::Vector3d &	p_deltaBiasAngularRate )

Sets the sensor biases increment.

Parameters

[in]	p_deltaBiasAcceleration	Acceleration bias increment in platform frame coordinates in [m/s^2]
[in]	p_deltaBiasAngularRate	Angular rate bias increment in platform frame coordinates in [rad/s]

◆ applyStateErrors_e()

void NAV::InertialIntegrator::applyStateErrors_e	(	const Eigen::Vector3d &	e_positionError,
		const Eigen::Vector3d &	e_velocityError,
		const Eigen::Vector3d &	e_attitudeError_b )

Apply the errors to the latest state.

Parameters

[in]	e_positionError	δr_e The position error in e frame coordinates in [m]
[in]	e_velocityError	δ𝐯_e The velocity error in e frame coordinates in [m/s]
[in]	e_attitudeError_b	δ𝛙_eb_e The attitude error in e frame coordinates in [rad]

◆ applyStateErrors_n()

void NAV::InertialIntegrator::applyStateErrors_n	(	const Eigen::Vector3d &	lla_positionError,
		const Eigen::Vector3d &	n_velocityError,
		const Eigen::Vector3d &	n_attitudeError_b )

Apply the errors to the latest state.

Parameters

[in]	lla_positionError	δ𝐩_n = [δ𝜙 δλ δ𝘩] The position error (latitude, longitude, altitude) in [rad, rad, m]
[in]	n_velocityError	δ𝐯_n The velocity error in n frame coordinates in [m/s]
[in]	n_attitudeError_b	δ𝛙_nb_n The attitude error in n frame coordinates in [rad]

◆ calcInertialSolution()

std::shared_ptr< PosVelAtt > NAV::InertialIntegrator::calcInertialSolution	(	const InsTime &	obsTime,
		const Eigen::Vector3d &	p_acceleration,
		const Eigen::Vector3d &	p_angularRate,
		const ImuPos &	imuPos )

Calculates the inertial navigation solution.

Parameters

[in]	obsTime	Time of the observation
[in]	p_acceleration	Acceleration in platform frame coordinates in [m/s^2]
[in]	p_angularRate	Angular rate in platform frame coordinates in [rad/s]
[in]	imuPos	IMU platform frame position with respect to body frame

Returns: The new state at the observation time

◆ calcInertialSolutionDelta()

std::shared_ptr< PosVelAtt > NAV::InertialIntegrator::calcInertialSolutionDelta	(	const InsTime &	obsTime,
		const double &	dt,
		const Eigen::Vector3d &	p_deltaVelocity,
		const Eigen::Vector3d &	p_deltaTheta,
		const ImuPos &	imuPos )

Calculates the inertial navigation solution.

Parameters

[in]	obsTime	Time of the observation
[in]	dt	Delta time over which the deltaVelocity and deltaTheta were measured in [s]
[in]	p_deltaVelocity	Integrated acceleration in platform frame coordinates in [m/s]
[in]	p_deltaTheta	Integrated angular rate in platform frame coordinates in [rad]
[in]	imuPos	IMU platform frame position with respect to body frame

Returns: The new state at the observation time

◆ calcInertialSolutionFromMeasurementBuffer()

std::shared_ptr< PosVelAtt > NAV::InertialIntegrator::calcInertialSolutionFromMeasurementBuffer ( const ImuPos & imuPos )

private

Calculates the inertial navigation solution.

Parameters

[in] imuPos IMU platform frame position with respect to body frame

Returns: The new state at the observation time

◆ setInitialState()

void NAV::InertialIntegrator::setInitialState ( const PosVelAtt & state )

Sets the initial state.

Parameters

[in] state State to set

◆ setState()

void NAV::InertialIntegrator::setState ( const PosVelAtt & state )

Pushes the state to the list of states.

Parameters

[in] state State to set

◆ setTotalSensorBiases()

void NAV::InertialIntegrator::setTotalSensorBiases	(	const Eigen::Vector3d &	p_biasAcceleration,
		const Eigen::Vector3d &	p_biasAngularRate )

Sets the sensor biases total values.

Parameters

[in]	p_biasAcceleration	Acceleration bias in platform frame coordinates in [m/s^2]
[in]	p_biasAngularRate	Angular rate bias in platform frame coordinates in [rad/s]

Friends And Related Symbol Documentation

◆ from_json

void from_json	(	const json &	j,
		InertialIntegrator &	data )

friend

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

◆ InertialIntegratorGui

bool InertialIntegratorGui	(	const char *	label,
		InertialIntegrator &	integrator,
		float	width = 250.0F )

friend

Shows a GUI for advanced configuration of the InertialIntegrator.

Parameters

[in]	label	Label to show. This has to be a unique id for ImGui.
[in]	integrator	Reference to the integrator to configure
[in]	width	Width of the widget

◆ to_json

void to_json	(	json &	j,
		const InertialIntegrator &	data )

friend

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/INS/InertialIntegrator.hpp

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ IntegrationAlgorithm

◆ IntegrationFrame

Member Function Documentation

◆ applySensorBiasesIncrements()

◆ applyStateErrors_e()

◆ applyStateErrors_n()

◆ calcInertialSolution()

◆ calcInertialSolutionDelta()

◆ calcInertialSolutionFromMeasurementBuffer()

◆ setInitialState()

◆ setState()

◆ setTotalSensorBiases()

Friends And Related Symbol Documentation

◆ from_json

◆ InertialIntegratorGui

◆ to_json