Inertial Measurement Integrator. More...

Data Structures
struct	GenericMeasurement
	Inertial Measurement for a generic type. More...
struct	ImuMeasurement
	IMU measurement. More...
struct	ImuState
	IMU state. More...
struct	PVAState
	Position, velocity and attitude state. More...

Public Types
enum class	IntegrationFrame : uint8_t { ECEF , NED }
	Available Integration Frames. More...
using	Measurement
	Inertial measurements.

Public Member Functions
void	addInertialMeasurement (const Measurement &meas, const ImuPos &imuPos, const std::string &nameId)
	Adds a inertial measurement to the relative motion increments.
template<typename T>
PVAState< T >	calcIntegratedState (const PVAState< T > &pvaOld, const ImuState< T > &imuNew, const ImuPos &imuPos, const std::string &nameId)
	Calculates the state using the preintegrated relative motion increments.
const Eigen::Matrix9d &	getCovMatrix () const
	Get the Covariance Matrix of the preintegrated measurements (3x attitude, 3x velocity, 3x position)
IntegrationFrame	getIntegrationFrame () const
	Returns the selected integration frame.
	InertialPreIntegrator ()=default
	Default Constructor.
	InertialPreIntegrator (IntegrationFrame integrationFrame)
	Constructor.
void	reset ()
	Clears all internal data.
void	setImuNoiseScaleMatrix (const Eigen::Matrix6d &W)
	Set the IMU Noise Scale Matrix.

Private Attributes
Eigen::Quaterniond	_attitudeIncrement
	Relative motion increment for the attitude bi_q_bj.
Eigen::Matrix9d	_covMatrix
	Incremental covariance matrix (3x attitude, 3x velocity, 3x position)
GravitationModel	_gravitationModel
	Gravity Model to use.
std::optional< Eigen::Matrix6d >	_imuNoiseScale_W
	Noise scale matrix of the IMU.
ImuState< double >	_imuState
	IMU state used to calculate the increments.
IntegrationFrame	_integrationFrame
	Frame to integrate the observations in.
bool	_lockIntegrationFrame
	Wether to lock the integration frame.
Eigen::Matrix3d	_pAtt_pOmega
	Partial derivative of the attitude increment after the angular rate bias.
Eigen::Vector3d	_positionIncrement
	Relative motion increment for the position.
Eigen::Matrix3d	_pPos_pAccel
	Partial derivative of the position increment after the acceleration bias.
Eigen::Matrix3d	_pPos_pOmega
	Partial derivative of the position increment after the angular rate bias.
Eigen::Matrix3d	_pVel_pAccel
	Partial derivative of the velocity increment after the acceleration bias.
Eigen::Matrix3d	_pVel_pOmega
	Partial derivative of the velocity increment after the angular rate bias.
double	_timeIncrement
	Time accumulated for each increment.
Eigen::Vector3d	_velocityIncrement
	Relative motion increment for the velocity.

Friends
void	from_json (const json &j, InertialPreIntegrator &data)
	Read info from a json object.
bool	InertialPreIntegratorGui (const char *label, InertialPreIntegrator &integrator, float width=250.0F)
	Shows a GUI for advanced configuration of the InertialPreIntegrator.
void	to_json (json &j, const InertialPreIntegrator &data)
	Write info to a json object.
const char *	to_string (InertialPreIntegrator::IntegrationFrame frame)
	Converts the enum to a string.

Detailed Description

Inertial Measurement Integrator.

Definition at line 31 of file InertialPreIntegrator.hpp.

Member Typedef Documentation

◆ Measurement

using NAV::InertialPreIntegrator::Measurement

Inertial measurements.

Definition at line 91 of file InertialPreIntegrator.hpp.

Member Enumeration Documentation

◆ IntegrationFrame

enum class NAV::InertialPreIntegrator::IntegrationFrame : uint8_t

strong

Available Integration Frames.

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

Definition at line 35 of file InertialPreIntegrator.hpp.

Constructor & Destructor Documentation

◆ InertialPreIntegrator() [1/2]

NAV::InertialPreIntegrator::InertialPreIntegrator ( )

default

Default Constructor.

◆ InertialPreIntegrator() [2/2]

NAV::InertialPreIntegrator::InertialPreIntegrator ( IntegrationFrame integrationFrame )

explicit

Constructor.

Parameters

integrationFrame Integration frame to lock to

Definition at line 26 of file InertialPreIntegrator.cpp.

Member Function Documentation

◆ addInertialMeasurement()

void NAV::InertialPreIntegrator::addInertialMeasurement	(	const Measurement &	meas,
		const ImuPos &	imuPos,
		const std::string &	nameId )

Adds a inertial measurement to the relative motion increments.

Parameters

[in]	meas	Inertial measurement
[in]	imuPos	IMU mounting position connecting the platform to the body frame
[in]	nameId	Name and id of the calling node for logging

Definition at line 49 of file InertialPreIntegrator.cpp.

◆ calcIntegratedState()

template<typename T>

PVAState< T > NAV::InertialPreIntegrator::calcIntegratedState	(	const PVAState< T > &	pvaOld,
		const ImuState< T > &	imuNew,
		const ImuPos &	imuPos,
		const std::string &	nameId )

inline

Calculates the state using the preintegrated relative motion increments.

Parameters

[in]	pvaOld	Position, velocity and attitude at the start of the preintegration interval
[in]	imuNew	The IMU state at the moment of evaluation
[in]	imuPos	IMU mounting position connecting the platform to the body frame
[in]	nameId	Name and id of the calling node for logging

Returns: The position, velocity and attitude at the end of the preintegration interval

Definition at line 120 of file InertialPreIntegrator.hpp.

◆ getCovMatrix()

const Eigen::Matrix9d & NAV::InertialPreIntegrator::getCovMatrix ( ) const

nodiscard

Get the Covariance Matrix of the preintegrated measurements (3x attitude, 3x velocity, 3x position)

Definition at line 123 of file InertialPreIntegrator.cpp.

◆ getIntegrationFrame()

InertialPreIntegrator::IntegrationFrame NAV::InertialPreIntegrator::getIntegrationFrame ( ) const

nodiscard

Returns the selected integration frame.

Definition at line 128 of file InertialPreIntegrator.cpp.

◆ reset()

void NAV::InertialPreIntegrator::reset ( )

Clears all internal data.

Definition at line 29 of file InertialPreIntegrator.cpp.

◆ setImuNoiseScaleMatrix()

void NAV::InertialPreIntegrator::setImuNoiseScaleMatrix ( const Eigen::Matrix6d & W )

Set the IMU Noise Scale Matrix.

Parameters

[in] W IMU Noise Scale Matrix

Definition at line 44 of file InertialPreIntegrator.cpp.

◆ from_json

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

friend

Read info from a json object.

Parameters

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

Definition at line 206 of file InertialPreIntegrator.cpp.

◆ InertialPreIntegratorGui

bool InertialPreIntegratorGui	(	const char *	label,
		InertialPreIntegrator &	integrator,
		float	width = 250.0F )

friend

Shows a GUI for advanced configuration of the InertialPreIntegrator.

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

Definition at line 133 of file InertialPreIntegrator.cpp.

◆ to_json

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

friend

Write info to a json object.

Parameters

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

Definition at line 197 of file InertialPreIntegrator.cpp.

◆ to_string

const char * to_string ( InertialPreIntegrator::IntegrationFrame frame )

friend

Converts the enum to a string.

Parameters

[in] frame Enum value to convert into text

Returns: String representation of the enum

Definition at line 213 of file InertialPreIntegrator.cpp.

Field Documentation

◆ _attitudeIncrement

Eigen::Quaterniond NAV::InertialPreIntegrator::_attitudeIncrement

private

Relative motion increment for the attitude bi_q_bj.

Definition at line 178 of file InertialPreIntegrator.hpp.

◆ _covMatrix

Eigen::Matrix9d NAV::InertialPreIntegrator::_covMatrix

private

Incremental covariance matrix (3x attitude, 3x velocity, 3x position)

Definition at line 182 of file InertialPreIntegrator.hpp.

◆ _gravitationModel

GravitationModel NAV::InertialPreIntegrator::_gravitationModel

private

Gravity Model to use.

Definition at line 170 of file InertialPreIntegrator.hpp.

◆ _imuNoiseScale_W

std::optional<Eigen::Matrix6d> NAV::InertialPreIntegrator::_imuNoiseScale_W

private

Noise scale matrix of the IMU.

Definition at line 192 of file InertialPreIntegrator.hpp.

◆ _imuState

ImuState<double> NAV::InertialPreIntegrator::_imuState

private

IMU state used to calculate the increments.

Definition at line 190 of file InertialPreIntegrator.hpp.

◆ _integrationFrame

IntegrationFrame NAV::InertialPreIntegrator::_integrationFrame

private

Frame to integrate the observations in.

Definition at line 167 of file InertialPreIntegrator.hpp.

◆ _lockIntegrationFrame

bool NAV::InertialPreIntegrator::_lockIntegrationFrame

private

Wether to lock the integration frame.

Definition at line 173 of file InertialPreIntegrator.hpp.

◆ _pAtt_pOmega

Eigen::Matrix3d NAV::InertialPreIntegrator::_pAtt_pOmega

private

Partial derivative of the attitude increment after the angular rate bias.

Definition at line 184 of file InertialPreIntegrator.hpp.

◆ _positionIncrement

Eigen::Vector3d NAV::InertialPreIntegrator::_positionIncrement

private

Relative motion increment for the position.

Definition at line 180 of file InertialPreIntegrator.hpp.

◆ _pPos_pAccel

Eigen::Matrix3d NAV::InertialPreIntegrator::_pPos_pAccel

private

Partial derivative of the position increment after the acceleration bias.

Definition at line 187 of file InertialPreIntegrator.hpp.

◆ _pPos_pOmega

Eigen::Matrix3d NAV::InertialPreIntegrator::_pPos_pOmega

private

Partial derivative of the position increment after the angular rate bias.

Definition at line 188 of file InertialPreIntegrator.hpp.

◆ _pVel_pAccel

Eigen::Matrix3d NAV::InertialPreIntegrator::_pVel_pAccel

private

Partial derivative of the velocity increment after the acceleration bias.

Definition at line 185 of file InertialPreIntegrator.hpp.

◆ _pVel_pOmega

Eigen::Matrix3d NAV::InertialPreIntegrator::_pVel_pOmega

private

Partial derivative of the velocity increment after the angular rate bias.

Definition at line 186 of file InertialPreIntegrator.hpp.

◆ _timeIncrement

double NAV::InertialPreIntegrator::_timeIncrement

private

Time accumulated for each increment.

Definition at line 177 of file InertialPreIntegrator.hpp.

◆ _velocityIncrement

Eigen::Vector3d NAV::InertialPreIntegrator::_velocityIncrement

private

Relative motion increment for the velocity.

Definition at line 179 of file InertialPreIntegrator.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/INS/InertialPreIntegrator.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Navigation/INS/InertialPreIntegrator.cpp

Data Structures

Public Types

Public Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Measurement

Member Enumeration Documentation

◆ IntegrationFrame

Constructor & Destructor Documentation

◆ InertialPreIntegrator() [1/2]

◆ InertialPreIntegrator() [2/2]

Member Function Documentation

◆ addInertialMeasurement()

◆ calcIntegratedState()

◆ getCovMatrix()

◆ getIntegrationFrame()

◆ reset()

◆ setImuNoiseScaleMatrix()

Friends And Related Symbol Documentation

◆ from_json

◆ InertialPreIntegratorGui

◆ to_json

◆ to_string

Field Documentation

◆ _attitudeIncrement

◆ _covMatrix

◆ _gravitationModel

◆ _imuNoiseScale_W

◆ _imuState

◆ _integrationFrame

◆ _lockIntegrationFrame

◆ _pAtt_pOmega

◆ _positionIncrement

◆ _pPos_pAccel

◆ _pPos_pOmega

◆ _pVel_pAccel

◆ _pVel_pOmega

◆ _timeIncrement

◆ _velocityIncrement