Loosely-coupled Kalman Filter for INS/GNSS integration. More...

Public Types
enum	KFMeas : uint8_t { dPosLat , dPosLon , dPosAlt , dVelN , dVelE , dVelD , dPosX , dPosY , dPosZ , dVelX , dVelY , dVelZ }
	Measurement Keys of the Kalman filter. More...

enum	KFStates : uint8_t { Roll , Pitch , Yaw , VelN , VelE , VelD , PosLat , PosLon , PosAlt , AccBiasX , AccBiasY , AccBiasZ , GyrBiasX , GyrBiasY , GyrBiasZ , Psi_eb_1 , Psi_eb_2 , Psi_eb_3 , VelX , VelY , VelZ , PosX , PosY , PosZ }
	State Keys of the Kalman filter. More...

Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...

enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.

	LooselyCoupledKF ()
	Default constructor.

	LooselyCoupledKF (const LooselyCoupledKF &)=delete
	Copy constructor.

	LooselyCoupledKF (LooselyCoupledKF &&)=delete
	Move constructor.

LooselyCoupledKF &	operator= (const LooselyCoupledKF &)=delete
	Copy assignment operator.

LooselyCoupledKF &	operator= (LooselyCoupledKF &&)=delete
	Move assignment operator.

void	restore (const json &j) override
	Restores the node from a json object.

json	save () const override
	Saves the node into a json object.

std::string	type () const override
	String representation of the class type.

	~LooselyCoupledKF () override
	Destructor.

Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.

virtual void	afterDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link was deleted.

bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.

bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.

bool	doEnable ()
	Enable the node.

bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.

bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.

virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.

template<typename T >
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.

Mode	getMode () const
	Get the current mode of the node.

const ImVec2 &	getSize () const
	Get the size of the node.

State	getState () const
	Get the current state of the node.

InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.

size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.

void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.

bool	isDisabled () const
	Checks if the node is disabled.

bool	isInitialized () const
	Checks if the node is initialized.

bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)

bool	isTransient () const
	Checks if the node is changing its state currently.

std::string	nameId () const
	Node name and id.

	Node (const Node &)=delete
	Copy constructor.

	Node (Node &&)=delete
	Move constructor.

	Node (std::string name)
	Constructor.

void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &guard)
	Notifies connected nodes about the change.

virtual bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.

virtual void	onDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link is to be deleted.

Node &	operator= (const Node &)=delete
	Copy assignment operator.

Node &	operator= (Node &&)=delete
	Move assignment operator.

OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.

size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.

void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.

std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.

virtual bool	resetNode ()
	Resets the node. It is guaranteed that the node is initialized when this is called.

virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.

void	wakeWorker ()
	Wakes the worker thread.

virtual	~Node ()
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the class category.

static std::string	typeStatic ()
	String representation of the class type.

Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Private Types
enum class	GnssMeasurementUncertaintyPositionUnit : uint8_t { rad2_rad2_m2 , rad_rad_m , meter2 , meter }
	Possible Units for the GNSS measurement uncertainty for the position (standard deviation σ or Variance σ²) More...

enum class	GnssMeasurementUncertaintyVelocityUnit : uint8_t { m2_s2 , m_s }
	Possible Units for the GNSS measurement uncertainty for the velocity (standard deviation σ or Variance σ²) More...

enum class	InitBiasAccelUnit : uint8_t { m_s2 }
	Possible Units for the initial accelerometer biases. More...

enum class	InitBiasGyroUnit : uint8_t { rad_s , deg_s }
	Possible Units for the initial gyroscope biases. More...

enum class	InitCovarianceAttitudeAnglesUnit : uint8_t { rad2 , deg2 , rad , deg }
	Possible Units for the initial covariance for the attitude angles (standard deviation σ or Variance σ²) More...

enum class	InitCovarianceBiasAccelUnit : uint8_t { m2_s4 , m_s2 }
	Possible Units for the initial covariance for the accelerometer biases (standard deviation σ or Variance σ²) More...

enum class	InitCovarianceBiasGyroUnit : uint8_t { rad2_s2 , deg2_s2 , rad_s , deg_s }
	Possible Units for the initial covariance for the gyroscope biases (standard deviation σ or Variance σ²) More...

enum class	InitCovariancePositionUnit : uint8_t { rad2_rad2_m2 , rad_rad_m , meter2 , meter }
	Possible Units for the initial covariance for the position (standard deviation σ or Variance σ²) More...

enum class	InitCovarianceVelocityUnit : uint8_t { m2_s2 , m_s }
	Possible Units for the initial covariance for the velocity (standard deviation σ or Variance σ²) More...

enum class	PhiCalculationAlgorithm : uint8_t { Exponential , Taylor }
	GUI option for the Phi calculation algorithm. More...

enum class	QCalculationAlgorithm : uint8_t { VanLoan , Taylor1 }
	GUI option for the Q calculation algorithm. More...

enum class	RandomProcess : uint8_t { RandomWalk , GaussMarkov1 }
	Available Random processes. More...

enum class	StdevAccelBiasUnits : uint8_t { microg , m_s2 }
	Possible Units for the Variance of the accelerometer dynamic bias. More...

enum class	StdevAccelNoiseUnits : uint8_t { mg_sqrtHz , m_s2_sqrtHz }
	Possible Units for the Standard deviation of the noise on the accelerometer specific-force measurements. More...

enum class	StdevGyroBiasUnits : uint8_t { deg_h , rad_s }
	Possible Units for the Variance of the accelerometer dynamic bias. More...

enum class	StdevGyroNoiseUnits : uint8_t { deg_hr_sqrtHz , rad_s_sqrtHz }
	Possible Units for the Standard deviation of the noise on the gyro angular-rate measurements. More...

Private Member Functions
void	deinitialize () override
	Deinitialize the node.

KeyedMatrix< double, KFStates, KFStates, 15, 15 >	e_systemMatrix_F (const Eigen::Quaterniond &e_Quat_b, const Eigen::Vector3d &b_specForce_ib, const Eigen::Vector3d &e_position, const Eigen::Vector3d &e_gravitation, double r_eS_e, const Eigen::Vector3d &e_omega_ie, const Eigen::Vector3d &tau_bad, const Eigen::Vector3d &tau_bgd) const
	Calculates the system matrix 𝐅 for the ECEF frame.

KeyedMatrix< double, KFStates, KFStates, 15, 15 >	initialErrorCovarianceMatrix_P0 (const Eigen::Vector3d &variance_angles, const Eigen::Vector3d &variance_vel, const Eigen::Vector3d &variance_pos, const Eigen::Vector3d &variance_accelBias, const Eigen::Vector3d &variance_gyroBias) const
	Initial error covariance matrix P_0.

bool	initialize () override
	Initialize the node.

void	invokeCallbackWithPosVelAtt (const PosVelAtt &posVelAtt)
	Invoke the callback with a PosVelAtt solution (without LCKF specific output)

void	looselyCoupledPrediction (const std::shared_ptr< const PosVelAtt > &inertialNavSol, double tau_i, const ImuPos &imuPos)
	Predicts the state from the InertialNavSol.

void	looselyCoupledUpdate (const std::shared_ptr< const PosVel > &posVelObs)
	Updates the predicted state from the InertialNavSol with the PosVel observation.

KeyedMatrix< double, KFStates, KFStates, 15, 15 >	n_systemMatrix_F (const Eigen::Quaterniond &n_Quat_b, const Eigen::Vector3d &b_specForce_ib, const Eigen::Vector3d &n_omega_in, const Eigen::Vector3d &n_velocity, const Eigen::Vector3d &lla_position, double R_N, double R_E, double g_0, double r_eS_e, const Eigen::Vector3d &tau_bad, const Eigen::Vector3d &tau_bgd) const
	Calculates the system matrix 𝐅 for the local navigation frame.

Eigen::Matrix< double, 15, 15 >	noiseScaleMatrix_W (const Eigen::Vector3d &sigma_ra, const Eigen::Vector3d &sigma_rg, const Eigen::Vector3d &sigma_bad, const Eigen::Vector3d &sigma_bgd, const Eigen::Vector3d &tau_bad, const Eigen::Vector3d &tau_bgd)
	Calculates the noise scale matrix 𝐖

void	recvImuObservation (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the IMU observation.

void	recvPosVelAttInit (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the PosVelAtt observation.

void	recvPosVelObservation (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the PosVel observation.

void	updateExternalPvaInitPin ()
	Add or remove the external PVA Init pin.

Static Private Member Functions
static KeyedVector< double, KFMeas, 6 >	e_measurementInnovation_dz (const Eigen::Vector3d &e_positionMeasurement, const Eigen::Vector3d &e_positionEstimate, const Eigen::Vector3d &e_velocityMeasurement, const Eigen::Vector3d &e_velocityEstimate, const Eigen::Quaterniond &e_Quat_b, const Eigen::Vector3d &b_leverArm_InsGnss, const Eigen::Vector3d &b_omega_ib, const Eigen::Matrix3d &e_Omega_ie)
	Measurement innovation vector 𝜹𝐳

static KeyedMatrix< double, KFMeas, KFStates, 6, 15 >	e_measurementMatrix_H (const Eigen::Matrix3d &e_Dcm_b, const Eigen::Vector3d &b_omega_ib, const Eigen::Vector3d &b_leverArm_InsGnss, const Eigen::Matrix3d &e_Omega_ie)
	Measurement matrix for GNSS measurements at timestep k, represented in Earth frame coordinates.

static KeyedMatrix< double, KFMeas, KFMeas, 6, 6 >	e_measurementNoiseCovariance_R (const Eigen::Vector3d &gnssVariancePosition, const Eigen::Vector3d &gnssVarianceVelocity)
	Measurement noise covariance matrix 𝐑

static KeyedMatrix< double, KFStates, KFStates, 15, 15 >	e_systemNoiseCovarianceMatrix_Q (const Eigen::Vector3d &sigma2_ra, const Eigen::Vector3d &sigma2_rg, const Eigen::Vector3d &sigma2_bad, const Eigen::Vector3d &sigma2_bgd, const Eigen::Vector3d &tau_bad, const Eigen::Vector3d &tau_bgd, const Eigen::Matrix3d &e_F_21, const Eigen::Matrix3d &e_Dcm_b, const double &tau_s)
	System noise covariance matrix 𝐐_{k-1}.

static KeyedVector< double, KFMeas, 6 >	n_measurementInnovation_dz (const Eigen::Vector3d &lla_positionMeasurement, const Eigen::Vector3d &lla_positionEstimate, const Eigen::Vector3d &n_velocityMeasurement, const Eigen::Vector3d &n_velocityEstimate, const Eigen::Matrix3d &T_rn_p, const Eigen::Quaterniond &n_Quat_b, const Eigen::Vector3d &b_leverArm_InsGnss, const Eigen::Vector3d &b_omega_ib, const Eigen::Matrix3d &n_Omega_ie)
	Measurement innovation vector 𝜹𝐳

static KeyedMatrix< double, KFMeas, KFStates, 6, 15 >	n_measurementMatrix_H (const Eigen::Matrix3d &T_rn_p, const Eigen::Matrix3d &n_Dcm_b, const Eigen::Vector3d &b_omega_ib, const Eigen::Vector3d &b_leverArm_InsGnss, const Eigen::Matrix3d &n_Omega_ie)
	Measurement matrix for GNSS measurements at timestep k, represented in navigation coordinates.

static KeyedMatrix< double, KFMeas, KFMeas, 6, 6 >	n_measurementNoiseCovariance_R (const Eigen::Vector3d &gnssVarianceLatLonAlt, const Eigen::Vector3d &gnssVarianceVelocity)
	Measurement noise covariance matrix 𝐑

static KeyedMatrix< double, KFStates, KFStates, 15, 15 >	n_systemNoiseCovarianceMatrix_Q (const Eigen::Vector3d &sigma2_ra, const Eigen::Vector3d &sigma2_rg, const Eigen::Vector3d &sigma2_bad, const Eigen::Vector3d &sigma2_bgd, const Eigen::Vector3d &tau_bad, const Eigen::Vector3d &tau_bgd, const Eigen::Matrix3d &n_F_21, const Eigen::Matrix3d &T_rn_p, const Eigen::Matrix3d &n_Dcm_b, const double &tau_s)
	System noise covariance matrix 𝐐_{k-1}.

static KeyedMatrix< double, KFStates, KFStates, 15, 15 >	noiseInputMatrix_G (const Eigen::Quaterniond &ien_Quat_b)
	Calculates the noise input matrix 𝐆

Private Attributes
Eigen::Vector3d	_b_leverArm_InsGnss
	Lever arm between INS and GNSS in [m, m, m].

bool	_checkKalmanMatricesRanks
	Check the rank of the Kalman matrices every iteration (computational expensive)

InsTime	_externalInitTime
	Time from the external init.

Eigen::Vector3d	_gnssMeasurementUncertaintyPosition
	GUI selection of the GNSS position measurement uncertainty (standard deviation σ or Variance σ²). SPP accuracy approx. 3m in horizontal direction and 3 times worse in vertical direction.

bool	_gnssMeasurementUncertaintyPositionOverride
	Whether to override the position uncertainty or use the one included in the measurement.

GnssMeasurementUncertaintyPositionUnit	_gnssMeasurementUncertaintyPositionUnit
	Gui selection for the Unit of the GNSS measurement uncertainty for the position.

Eigen::Vector3d	_gnssMeasurementUncertaintyVelocity
	GUI selection of the GNSS NED velocity measurement uncertainty (standard deviation σ or Variance σ²)

bool	_gnssMeasurementUncertaintyVelocityOverride
	Whether to override the velocity uncertainty or use the one included in the measurement.

GnssMeasurementUncertaintyVelocityUnit	_gnssMeasurementUncertaintyVelocityUnit
	Gui selection for the Unit of the GNSS measurement uncertainty for the velocity.

InertialIntegrator	_inertialIntegrator
	Inertial Integrator.

std::array< double, 3 >	_initalRollPitchYaw
	Roll, Pitch and Yaw angles in [deg] used for initialization if not taken from separate pin.

Eigen::Vector3d	_initBiasAccel
	GUI selection of the initial accelerometer biases.

InitBiasAccelUnit	_initBiasAccelUnit
	Gui selection for the unit of the initial accelerometer biases.

Eigen::Vector3d	_initBiasGyro
	GUI selection of the initial gyroscope biases.

InitBiasGyroUnit	_initBiasGyroUnit
	Gui selection for the unit of the initial gyroscope biases.

Eigen::Vector3d	_initCovarianceAttitudeAngles
	GUI selection of the initial covariance diagonal values for attitude angles (standard deviation σ or Variance σ²)

InitCovarianceAttitudeAnglesUnit	_initCovarianceAttitudeAnglesUnit
	Gui selection for the Unit of the initial covariance for the attitude angles.

Eigen::Vector3d	_initCovarianceBiasAccel
	GUI selection of the initial covariance diagonal values for accelerometer biases (standard deviation σ or Variance σ²)

InitCovarianceBiasAccelUnit	_initCovarianceBiasAccelUnit
	Gui selection for the Unit of the initial covariance for the accelerometer biases.

Eigen::Vector3d	_initCovarianceBiasGyro
	GUI selection of the initial covariance diagonal values for gyroscope biases (standard deviation σ or Variance σ²)

InitCovarianceBiasGyroUnit	_initCovarianceBiasGyroUnit
	Gui selection for the Unit of the initial covariance for the gyroscope biases.

Eigen::Vector3d	_initCovariancePosition
	GUI selection of the initial covariance diagonal values for position (standard deviation σ or Variance σ²)

InitCovariancePositionUnit	_initCovariancePositionUnit
	Gui selection for the Unit of the initial covariance for the position.

Eigen::Vector3d	_initCovarianceVelocity
	GUI selection of the initial covariance diagonal values for velocity (standard deviation σ or Variance σ²)

InitCovarianceVelocityUnit	_initCovarianceVelocityUnit
	Gui selection for the Unit of the initial covariance for the velocity.

bool	_initializeStateOverExternalPin
	Whether to initialize the state over an external pin.

bool	_initialSensorBiasesApplied
	Whether the accumulated biases have been initialized in the 'inertialIntegrator'.

KeyedKalmanFilterD< KFStates, KFMeas >	_kalmanFilter
	Kalman Filter representation.

std::shared_ptr< const ImuObs >	_lastImuObs
	Last received IMU observation (to get ImuPos)

PhiCalculationAlgorithm	_phiCalculationAlgorithm
	GUI option for the Phi calculation algorithm.

int	_phiCalculationTaylorOrder
	GUI option for the order of the Taylor polynom to calculate the Phi matrix.

bool	_preferAccelerationOverDeltaMeasurements
	Prefer the raw acceleration measurements over the deltaVel & deltaTheta values.

QCalculationAlgorithm	_qCalculationAlgorithm
	GUI option for the Q calculation algorithm.

RandomProcess	_randomProcessAccel
	Random Process used to estimate the accelerometer biases.

RandomProcess	_randomProcessGyro
	Random Process used to estimate the gyroscope biases.

Eigen::Vector3d	_stdev_bad
	𝜎²_bad Variance of the accelerometer dynamic bias

Eigen::Vector3d	_stdev_bgd
	𝜎²_bgd Variance of the gyro dynamic bias

Eigen::Vector3d	_stdev_ra
	𝜎_ra Standard deviation of the noise on the accelerometer specific-force measurements

Eigen::Vector3d	_stdev_rg
	𝜎_rg Standard deviation of the noise on the gyro angular-rate measurements

StdevAccelBiasUnits	_stdevAccelBiasUnits
	Gui selection for the Unit of the input variance_bad parameter.

StdevAccelNoiseUnits	_stdevAccelNoiseUnits
	Gui selection for the Unit of the input stdev_ra parameter.

StdevGyroBiasUnits	_stdevGyroBiasUnits
	Gui selection for the Unit of the input variance_bad parameter.

StdevGyroNoiseUnits	_stdevGyroNoiseUnits
	Gui selection for the Unit of the input stdev_rg parameter.

Eigen::Vector3d	_tau_bad
	Correlation length of the accelerometer dynamic bias in [s].

Eigen::Vector3d	_tau_bgd
	Correlation length of the gyro dynamic bias in [s].

Static Private Attributes
static const std::vector< KFMeas >	dPos
	All position difference keys.

static const std::vector< KFMeas >	dVel
	All velocity difference keys.

static constexpr size_t	INPUT_PORT_INDEX_GNSS
	Flow (PosVel)

static constexpr size_t	INPUT_PORT_INDEX_IMU
	Flow (ImuObs)

static constexpr size_t	INPUT_PORT_INDEX_POS_VEL_ATT_INIT
	Flow (PosVelAtt)

static const std::vector< KFStates >	KFAccBias
	All acceleration bias keys.

static const std::vector< KFStates >	KFAtt
	All attitude keys.

static const std::vector< KFStates >	KFGyrBias
	All gyroscope bias keys.

static const std::vector< KFStates >	KFPos
	All position keys.

static const std::vector< KFStates >	KFPosVel
	All position and velocity keys.

static const std::vector< KFStates >	KFVel
	All velocity keys.

static const std::vector< KFMeas >	Meas
	Vector with all measurement keys.

static constexpr size_t	OUTPUT_PORT_INDEX_SOLUTION
	Flow (InsGnssLCKFSolution)

static const std::vector< KFStates >	States
	Vector with all state keys.

Additional Inherited Members
Public Attributes inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.

ax::NodeEditor::NodeId	id
	Unique Id of the Node.

std::vector< InputPin >	inputPins
	List of input pins.

Kind	kind
	Kind of the Node.

std::string	name
	Name of the Node.

std::vector< OutputPin >	outputPins
	List of output pins.

std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)

Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize

bool	_hasConfig
	Flag if the config window should be shown.

bool	_lockConfigDuringRun
	Lock the config when executing post-processing.

bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.

Detailed Description

Loosely-coupled Kalman Filter for INS/GNSS integration.

Member Enumeration Documentation

◆ GnssMeasurementUncertaintyPositionUnit

enum class NAV::LooselyCoupledKF::GnssMeasurementUncertaintyPositionUnit : uint8_t

strongprivate

Possible Units for the GNSS measurement uncertainty for the position (standard deviation σ or Variance σ²)

Enumerator
rad2_rad2_m2	Variance LatLonAlt^2 [rad^2, rad^2, m^2].
rad_rad_m	Standard deviation LatLonAlt [rad, rad, m].
meter2	Variance NED [m^2, m^2, m^2].
meter	Standard deviation NED [m, m, m].

◆ GnssMeasurementUncertaintyVelocityUnit

enum class NAV::LooselyCoupledKF::GnssMeasurementUncertaintyVelocityUnit : uint8_t

strongprivate

Possible Units for the GNSS measurement uncertainty for the velocity (standard deviation σ or Variance σ²)

Enumerator
m2_s2	Variance [m^2/s^2].
m_s	Standard deviation [m/s].

◆ InitBiasAccelUnit

enum class NAV::LooselyCoupledKF::InitBiasAccelUnit : uint8_t

strongprivate

Possible Units for the initial accelerometer biases.

Enumerator
m_s2	acceleration [m/s^2]

◆ InitBiasGyroUnit

enum class NAV::LooselyCoupledKF::InitBiasGyroUnit : uint8_t

strongprivate

Possible Units for the initial gyroscope biases.

Enumerator
rad_s	angular rate [rad/s]
deg_s	angular rate [deg/s]

◆ InitCovarianceAttitudeAnglesUnit

enum class NAV::LooselyCoupledKF::InitCovarianceAttitudeAnglesUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the attitude angles (standard deviation σ or Variance σ²)

Enumerator
rad2	Variance [rad^2].
deg2	Variance [deg^2].
rad	Standard deviation [rad].
deg	Standard deviation [deg].

◆ InitCovarianceBiasAccelUnit

enum class NAV::LooselyCoupledKF::InitCovarianceBiasAccelUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the accelerometer biases (standard deviation σ or Variance σ²)

Enumerator
m2_s4	Variance [m^2/s^4].
m_s2	Standard deviation [m/s^2].

◆ InitCovarianceBiasGyroUnit

enum class NAV::LooselyCoupledKF::InitCovarianceBiasGyroUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the gyroscope biases (standard deviation σ or Variance σ²)

Enumerator
rad2_s2	Variance [rad²/s²].
deg2_s2	Variance [deg²/s²].
rad_s	Standard deviation [rad/s].
deg_s	Standard deviation [deg/s].

◆ InitCovariancePositionUnit

enum class NAV::LooselyCoupledKF::InitCovariancePositionUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the position (standard deviation σ or Variance σ²)

Enumerator
rad2_rad2_m2	Variance LatLonAlt^2 [rad^2, rad^2, m^2].
rad_rad_m	Standard deviation LatLonAlt [rad, rad, m].
meter2	Variance NED [m^2, m^2, m^2].
meter	Standard deviation NED [m, m, m].

◆ InitCovarianceVelocityUnit

enum class NAV::LooselyCoupledKF::InitCovarianceVelocityUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the velocity (standard deviation σ or Variance σ²)

Enumerator
m2_s2	Variance [m^2/s^2].
m_s	Standard deviation [m/s].

◆ KFMeas

enum NAV::LooselyCoupledKF::KFMeas : uint8_t

Measurement Keys of the Kalman filter.

Enumerator
dPosLat	Latitude difference.
dPosLon	Longitude difference.
dPosAlt	Altitude difference.
dVelN	Velocity North difference.
dVelE	Velocity East difference.
dVelD	Velocity Down difference.
dPosX	ECEF Position X difference.
dPosY	ECEF Position Y difference.
dPosZ	ECEF Position Z difference.
dVelX	ECEF Velocity X difference.
dVelY	ECEF Velocity Y difference.
dVelZ	ECEF Velocity Z difference.

◆ KFStates

enum NAV::LooselyCoupledKF::KFStates : uint8_t

State Keys of the Kalman filter.

Enumerator
Roll	Roll.
Pitch	Pitch.
Yaw	Yaw.
VelN	Velocity North.
VelE	Velocity East.
VelD	Velocity Down.
PosLat	Latitude.
PosLon	Longitude.
PosAlt	Altitude.
AccBiasX	Accelerometer Bias X.
AccBiasY	Accelerometer Bias Y.
AccBiasZ	Accelerometer Bias Z.
GyrBiasX	Gyroscope Bias X.
GyrBiasY	Gyroscope Bias Y.
GyrBiasZ	Gyroscope Bias Z.
Psi_eb_1	Angle between Earth and Body frame around 1. axis.
Psi_eb_2	Angle between Earth and Body frame around 2. axis.
Psi_eb_3	Angle between Earth and Body frame around 3. axis.
VelX	ECEF Velocity X.
VelY	ECEF Velocity Y.
VelZ	ECEF Velocity Z.
PosX	ECEF Position X.
PosY	ECEF Position Y.
PosZ	ECEF Position Z.

◆ PhiCalculationAlgorithm

enum class NAV::LooselyCoupledKF::PhiCalculationAlgorithm : uint8_t

strongprivate

GUI option for the Phi calculation algorithm.

Enumerator
Exponential	Van-Loan.
Taylor	Taylor.

◆ QCalculationAlgorithm

enum class NAV::LooselyCoupledKF::QCalculationAlgorithm : uint8_t

strongprivate

GUI option for the Q calculation algorithm.

Enumerator
VanLoan	Van-Loan.
Taylor1	Taylor.

◆ RandomProcess

enum class NAV::LooselyCoupledKF::RandomProcess : uint8_t

strongprivate

Available Random processes.

Enumerator
RandomWalk	Random Walk.
GaussMarkov1	Gauss-Markov 1st Order.

◆ StdevAccelBiasUnits

enum class NAV::LooselyCoupledKF::StdevAccelBiasUnits : uint8_t

strongprivate

Possible Units for the Variance of the accelerometer dynamic bias.

Enumerator
microg	[µg]
m_s2	[m / s^2]

◆ StdevAccelNoiseUnits

enum class NAV::LooselyCoupledKF::StdevAccelNoiseUnits : uint8_t

strongprivate

Possible Units for the Standard deviation of the noise on the accelerometer specific-force measurements.

Enumerator
mg_sqrtHz	[mg / √(Hz)]
m_s2_sqrtHz	[m / s^2 / √(Hz)]

◆ StdevGyroBiasUnits

enum class NAV::LooselyCoupledKF::StdevGyroBiasUnits : uint8_t

strongprivate

Possible Units for the Variance of the accelerometer dynamic bias.

Enumerator
deg_h	[°/h]
rad_s	[1/s]

◆ StdevGyroNoiseUnits

enum class NAV::LooselyCoupledKF::StdevGyroNoiseUnits : uint8_t

strongprivate

Possible Units for the Standard deviation of the noise on the gyro angular-rate measurements.

Enumerator
deg_hr_sqrtHz	[deg / hr /√(Hz)]
rad_s_sqrtHz	[rad / s /√(Hz)]

Member Function Documentation

◆ deinitialize()

void NAV::LooselyCoupledKF::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

◆ e_measurementInnovation_dz()

static KeyedVector< double, KFMeas, 6 > NAV::LooselyCoupledKF::e_measurementInnovation_dz	(	const Eigen::Vector3d &	e_positionMeasurement,
		const Eigen::Vector3d &	e_positionEstimate,
		const Eigen::Vector3d &	e_velocityMeasurement,
		const Eigen::Vector3d &	e_velocityEstimate,
		const Eigen::Quaterniond &	e_Quat_b,
		const Eigen::Vector3d &	b_leverArm_InsGnss,
		const Eigen::Vector3d &	b_omega_ib,
		const Eigen::Matrix3d &	e_Omega_ie )

staticnodiscardprivate

Measurement innovation vector 𝜹𝐳

Parameters

[in]	e_positionMeasurement	Position measurement in ECEF coordinates in [m]
[in]	e_positionEstimate	Position estimate in ECEF coordinates in [m]
[in]	e_velocityMeasurement	Velocity measurement in the e frame in [m/s]
[in]	e_velocityEstimate	Velocity estimate in the e frame in [m/s]
[in]	e_Quat_b	Rotation quaternion from body to Earth coordinates
[in]	b_leverArm_InsGnss	l_{ba}^b lever arm from the INS to the GNSS antenna in body-frame coordinates [m]
[in]	b_omega_ib	Angular rate of body with respect to inertial system in body-frame coordinates in [rad/s]
[in]	e_Omega_ie	Skew-symmetric matrix of the Earth-rotation vector in Earth frame axes

Returns: The 6x1 measurement innovation vector 𝜹𝐳

◆ e_measurementMatrix_H()

static KeyedMatrix< double, KFMeas, KFStates, 6, 15 > NAV::LooselyCoupledKF::e_measurementMatrix_H	(	const Eigen::Matrix3d &	e_Dcm_b,
		const Eigen::Vector3d &	b_omega_ib,
		const Eigen::Vector3d &	b_leverArm_InsGnss,
		const Eigen::Matrix3d &	e_Omega_ie )

staticnodiscardprivate

Measurement matrix for GNSS measurements at timestep k, represented in Earth frame coordinates.

Parameters

[in]	e_Dcm_b	Direction Cosine Matrix from body to Earth coordinates
[in]	b_omega_ib	Angular rate of body with respect to inertial system in body-frame coordinates in [rad/s]
[in]	b_leverArm_InsGnss	l_{ba}^b lever arm from the INS to the GNSS antenna in body-frame coordinates [m]
[in]	e_Omega_ie	Skew-symmetric matrix of the Earth-rotation vector in Earth frame axes

Returns: The 6x15 measurement matrix 𝐇

◆ e_measurementNoiseCovariance_R()

static KeyedMatrix< double, KFMeas, KFMeas, 6, 6 > NAV::LooselyCoupledKF::e_measurementNoiseCovariance_R	(	const Eigen::Vector3d &	gnssVariancePosition,
		const Eigen::Vector3d &	gnssVarianceVelocity )

staticnodiscardprivate

Measurement noise covariance matrix 𝐑

Parameters

[in]	gnssVariancePosition	Variances of the position in [m²]
[in]	gnssVarianceVelocity	Variances of the velocity in [m²/s²]

Returns: The 6x6 measurement covariance matrix 𝐑

◆ e_systemMatrix_F()

KeyedMatrix< double, KFStates, KFStates, 15, 15 > NAV::LooselyCoupledKF::e_systemMatrix_F	(	const Eigen::Quaterniond &	e_Quat_b,
		const Eigen::Vector3d &	b_specForce_ib,
		const Eigen::Vector3d &	e_position,
		const Eigen::Vector3d &	e_gravitation,
		double	r_eS_e,
		const Eigen::Vector3d &	e_omega_ie,
		const Eigen::Vector3d &	tau_bad,
		const Eigen::Vector3d &	tau_bgd ) const

nodiscardprivate

Calculates the system matrix 𝐅 for the ECEF frame.

Parameters

[in]	e_Quat_b	Attitude of the body with respect to e-system
[in]	b_specForce_ib	Specific force of the body with respect to inertial frame in [m / s^2], resolved in body coordinates
[in]	e_position	Position in ECEF coordinates in [m]
[in]	e_gravitation	Gravitational acceleration in [m/s^2]
[in]	r_eS_e	Geocentric radius. The distance of a point on the Earth's surface from the center of the Earth in [m]
[in]	e_omega_ie	Angular velocity of Earth with respect to inertial system, represented in e-sys in [rad/s]
[in]	tau_bad	Correlation length for the accelerometer in [s]
[in]	tau_bgd	Correlation length for the gyroscope in [s]

Note: See Groves (2013) chapter 14.2.3, equation (14.48)

◆ e_systemNoiseCovarianceMatrix_Q()

static KeyedMatrix< double, KFStates, KFStates, 15, 15 > NAV::LooselyCoupledKF::e_systemNoiseCovarianceMatrix_Q	(	const Eigen::Vector3d &	sigma2_ra,
		const Eigen::Vector3d &	sigma2_rg,
		const Eigen::Vector3d &	sigma2_bad,
		const Eigen::Vector3d &	sigma2_bgd,
		const Eigen::Vector3d &	tau_bad,
		const Eigen::Vector3d &	tau_bgd,
		const Eigen::Matrix3d &	e_F_21,
		const Eigen::Matrix3d &	e_Dcm_b,
		const double &	tau_s )

staticnodiscardprivate

System noise covariance matrix 𝐐_{k-1}.

Parameters

[in]	sigma2_ra	Variance of the noise on the accelerometer specific-force measurements
[in]	sigma2_rg	Variance of the noise on the gyro angular-rate measurements
[in]	sigma2_bad	Variance of the accelerometer dynamic bias
[in]	sigma2_bgd	Variance of the gyro dynamic bias
[in]	tau_bad	Correlation length for the accelerometer in [s]
[in]	tau_bgd	Correlation length for the gyroscope in [s]
[in]	e_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	e_Dcm_b	Direction Cosine Matrix from body to Earth coordinates
[in]	tau_s	Time interval in [s]

Returns: The 15x15 matrix of system noise covariances

◆ guiConfig()

void NAV::LooselyCoupledKF::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Node.

◆ initialErrorCovarianceMatrix_P0()

KeyedMatrix< double, KFStates, KFStates, 15, 15 > NAV::LooselyCoupledKF::initialErrorCovarianceMatrix_P0	(	const Eigen::Vector3d &	variance_angles,
		const Eigen::Vector3d &	variance_vel,
		const Eigen::Vector3d &	variance_pos,
		const Eigen::Vector3d &	variance_accelBias,
		const Eigen::Vector3d &	variance_gyroBias ) const

nodiscardprivate

Initial error covariance matrix P_0.

Parameters

[in]	variance_angles	Initial Covariance of the attitude angles in [rad²]
[in]	variance_vel	Initial Covariance of the velocity in [m²/s²]
[in]	variance_pos	Initial Covariance of the position in [rad² rad² m²] n-frame / [m²] i,e-frame
[in]	variance_accelBias	Initial Covariance of the accelerometer biases in [m^2/s^4]
[in]	variance_gyroBias	Initial Covariance of the gyroscope biases in [rad^2/s^2]

Returns: The 15x15 matrix of initial state variances

◆ initialize()

bool NAV::LooselyCoupledKF::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

◆ invokeCallbackWithPosVelAtt()

void NAV::LooselyCoupledKF::invokeCallbackWithPosVelAtt ( const PosVelAtt & posVelAtt )

private

Invoke the callback with a PosVelAtt solution (without LCKF specific output)

Parameters

[in] posVelAtt PosVelAtt solution

◆ looselyCoupledPrediction()

void NAV::LooselyCoupledKF::looselyCoupledPrediction	(	const std::shared_ptr< const PosVelAtt > &	inertialNavSol,
		double	tau_i,
		const ImuPos &	imuPos )

private

Predicts the state from the InertialNavSol.

Parameters

[in]	inertialNavSol	Inertial navigation solution triggering the prediction
[in]	tau_i	Time since the last prediction in [s]
[in]	imuPos	IMU platform frame position with respect to body frame

◆ looselyCoupledUpdate()

void NAV::LooselyCoupledKF::looselyCoupledUpdate ( const std::shared_ptr< const PosVel > & posVelObs )

private

Updates the predicted state from the InertialNavSol with the PosVel observation.

Parameters

[in] posVelObs PosVel measurement triggering the update

◆ n_measurementInnovation_dz()

static KeyedVector< double, KFMeas, 6 > NAV::LooselyCoupledKF::n_measurementInnovation_dz	(	const Eigen::Vector3d &	lla_positionMeasurement,
		const Eigen::Vector3d &	lla_positionEstimate,
		const Eigen::Vector3d &	n_velocityMeasurement,
		const Eigen::Vector3d &	n_velocityEstimate,
		const Eigen::Matrix3d &	T_rn_p,
		const Eigen::Quaterniond &	n_Quat_b,
		const Eigen::Vector3d &	b_leverArm_InsGnss,
		const Eigen::Vector3d &	b_omega_ib,
		const Eigen::Matrix3d &	n_Omega_ie )

staticnodiscardprivate

Measurement innovation vector 𝜹𝐳

Parameters

[in]	lla_positionMeasurement	Position measurement as Lat Lon Alt in [rad rad m]
[in]	lla_positionEstimate	Position estimate as Lat Lon Alt in [rad rad m]
[in]	n_velocityMeasurement	Velocity measurement in the n frame in [m/s]
[in]	n_velocityEstimate	Velocity estimate in the n frame in [m/s]
[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	n_Quat_b	Rotation quaternion from body to navigation coordinates
[in]	b_leverArm_InsGnss	l_{ba}^b lever arm from the INS to the GNSS antenna in body-frame coordinates [m]
[in]	b_omega_ib	Angular rate of body with respect to inertial system in body-frame coordinates in [rad/s]
[in]	n_Omega_ie	Skew-symmetric matrix of the Earth-rotation vector in local navigation frame axes

Returns: The 6x1 measurement innovation vector 𝜹𝐳

◆ n_measurementMatrix_H()

static KeyedMatrix< double, KFMeas, KFStates, 6, 15 > NAV::LooselyCoupledKF::n_measurementMatrix_H	(	const Eigen::Matrix3d &	T_rn_p,
		const Eigen::Matrix3d &	n_Dcm_b,
		const Eigen::Vector3d &	b_omega_ib,
		const Eigen::Vector3d &	b_leverArm_InsGnss,
		const Eigen::Matrix3d &	n_Omega_ie )

staticnodiscardprivate

Measurement matrix for GNSS measurements at timestep k, represented in navigation coordinates.

Parameters

[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	n_Dcm_b	Direction Cosine Matrix from body to navigation coordinates
[in]	b_omega_ib	Angular rate of body with respect to inertial system in body-frame coordinates in [rad/s]
[in]	b_leverArm_InsGnss	l_{ba}^b lever arm from the INS to the GNSS antenna in body-frame coordinates [m]
[in]	n_Omega_ie	Skew-symmetric matrix of the Earth-rotation vector in local navigation frame axes

Returns: The 6x15 measurement matrix 𝐇

◆ n_measurementNoiseCovariance_R()

static KeyedMatrix< double, KFMeas, KFMeas, 6, 6 > NAV::LooselyCoupledKF::n_measurementNoiseCovariance_R	(	const Eigen::Vector3d &	gnssVarianceLatLonAlt,
		const Eigen::Vector3d &	gnssVarianceVelocity )

staticnodiscardprivate

Measurement noise covariance matrix 𝐑

Parameters

[in]	gnssVarianceLatLonAlt	Variances of the position LLA in [rad² rad² m²]
[in]	gnssVarianceVelocity	Variances of the velocity in [m²/s²]

Returns: The 6x6 measurement covariance matrix 𝐑

◆ n_systemMatrix_F()

KeyedMatrix< double, KFStates, KFStates, 15, 15 > NAV::LooselyCoupledKF::n_systemMatrix_F	(	const Eigen::Quaterniond &	n_Quat_b,
		const Eigen::Vector3d &	b_specForce_ib,
		const Eigen::Vector3d &	n_omega_in,
		const Eigen::Vector3d &	n_velocity,
		const Eigen::Vector3d &	lla_position,
		double	R_N,
		double	R_E,
		double	g_0,
		double	r_eS_e,
		const Eigen::Vector3d &	tau_bad,
		const Eigen::Vector3d &	tau_bgd ) const

nodiscardprivate

Calculates the system matrix 𝐅 for the local navigation frame.

Parameters

[in]	n_Quat_b	Attitude of the body with respect to n-system
[in]	b_specForce_ib	Specific force of the body with respect to inertial frame in [m / s^2], resolved in body coordinates
[in]	n_omega_in	Angular rate of navigation system with respect to the inertial system [rad / s], resolved in navigation coordinates.
[in]	n_velocity	Velocity in n-system in [m / s]
[in]	lla_position	Position as Lat Lon Alt in [rad rad m]
[in]	R_N	Meridian radius of curvature in [m]
[in]	R_E	Prime vertical radius of curvature (East/West) [m]
[in]	g_0	Magnitude of the gravity vector in [m/s^2] (see [17] Groves, ch. 2.4.7, eq. 2.135, p. 70)
[in]	r_eS_e	Geocentric radius. The distance of a point on the Earth's surface from the center of the Earth in [m]
[in]	tau_bad	Correlation length for the accelerometer in [s]
[in]	tau_bgd	Correlation length for the gyroscope in [s]

Note: See Groves (2013) chapter 14.2.4, equation (14.63)

◆ n_systemNoiseCovarianceMatrix_Q()

static KeyedMatrix< double, KFStates, KFStates, 15, 15 > NAV::LooselyCoupledKF::n_systemNoiseCovarianceMatrix_Q	(	const Eigen::Vector3d &	sigma2_ra,
		const Eigen::Vector3d &	sigma2_rg,
		const Eigen::Vector3d &	sigma2_bad,
		const Eigen::Vector3d &	sigma2_bgd,
		const Eigen::Vector3d &	tau_bad,
		const Eigen::Vector3d &	tau_bgd,
		const Eigen::Matrix3d &	n_F_21,
		const Eigen::Matrix3d &	T_rn_p,
		const Eigen::Matrix3d &	n_Dcm_b,
		const double &	tau_s )

staticnodiscardprivate

System noise covariance matrix 𝐐_{k-1}.

Parameters

[in]	sigma2_ra	Variance of the noise on the accelerometer specific-force measurements
[in]	sigma2_rg	Variance of the noise on the gyro angular-rate measurements
[in]	sigma2_bad	Variance of the accelerometer dynamic bias
[in]	sigma2_bgd	Variance of the gyro dynamic bias
[in]	tau_bad	Correlation length for the accelerometer in [s]
[in]	tau_bgd	Correlation length for the gyroscope in [s]
[in]	n_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	n_Dcm_b	Direction Cosine Matrix from body to navigation coordinates
[in]	tau_s	Time interval in [s]

Returns: The 15x15 matrix of system noise covariances

◆ noiseInputMatrix_G()

static KeyedMatrix< double, KFStates, KFStates, 15, 15 > NAV::LooselyCoupledKF::noiseInputMatrix_G ( const Eigen::Quaterniond & ien_Quat_b )

staticnodiscardprivate

Calculates the noise input matrix 𝐆

Parameters

[in] ien_Quat_b Quaternion from body frame to {i,e,n} frame

Note: See [17] Groves, ch. 14.2.6, eq. 14.79, p. 590

◆ noiseScaleMatrix_W()

Eigen::Matrix< double, 15, 15 > NAV::LooselyCoupledKF::noiseScaleMatrix_W	(	const Eigen::Vector3d &	sigma_ra,
		const Eigen::Vector3d &	sigma_rg,
		const Eigen::Vector3d &	sigma_bad,
		const Eigen::Vector3d &	sigma_bgd,
		const Eigen::Vector3d &	tau_bad,
		const Eigen::Vector3d &	tau_bgd )

nodiscardprivate

Calculates the noise scale matrix 𝐖

Parameters

[in]	sigma_ra	Standard deviation of the noise on the accelerometer specific-force measurements
[in]	sigma_rg	Standard deviation of the noise on the gyro angular-rate measurements
[in]	sigma_bad	Standard deviation of the accelerometer dynamic bias
[in]	sigma_bgd	Standard deviation of the gyro dynamic bias
[in]	tau_bad	Correlation length for the accelerometer in [s]
[in]	tau_bgd	Correlation length for the gyroscope in [s]

Note: See [17] Groves, ch. 14.2.6, eq. 14.79, p. 590

◆ recvImuObservation()

void NAV::LooselyCoupledKF::recvImuObservation	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the IMU observation.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

◆ recvPosVelAttInit()

void NAV::LooselyCoupledKF::recvPosVelAttInit	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the PosVelAtt observation.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

◆ recvPosVelObservation()

void NAV::LooselyCoupledKF::recvPosVelObservation	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the PosVel observation.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

◆ restore()

void NAV::LooselyCoupledKF::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Node.

◆ save()

json NAV::LooselyCoupledKF::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

◆ type()

std::string NAV::LooselyCoupledKF::type ( ) const

nodiscardoverridevirtual

String representation of the class type.

Implements NAV::Node.

Member Data Documentation

◆ _stdev_bad

Eigen::Vector3d NAV::LooselyCoupledKF::_stdev_bad

private

𝜎²_bad Variance of the accelerometer dynamic bias

Note: Value from VN-310 Datasheet (In-Run Bias Stability (Allan Variance))

◆ _stdev_bgd

Eigen::Vector3d NAV::LooselyCoupledKF::_stdev_bgd

private

𝜎²_bgd Variance of the gyro dynamic bias

Note: Value from VN-310 Datasheet (In-Run Bias Stability (Allan Variance))

◆ _stdev_ra

Eigen::Vector3d NAV::LooselyCoupledKF::_stdev_ra

private

𝜎_ra Standard deviation of the noise on the accelerometer specific-force measurements

Note: Value from VN-310 Datasheet but verify with values from Brown (2012) table 9.3 for 'High quality'

◆ _stdev_rg

Eigen::Vector3d NAV::LooselyCoupledKF::_stdev_rg

private

𝜎_rg Standard deviation of the noise on the gyro angular-rate measurements

Note: Value from VN-310 Datasheet but verify with values from Brown (2012) table 9.3 for 'High quality'

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/KalmanFilter/LooselyCoupledKF.hpp

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ GnssMeasurementUncertaintyPositionUnit

◆ GnssMeasurementUncertaintyVelocityUnit

◆ InitBiasAccelUnit

◆ InitBiasGyroUnit

◆ InitCovarianceAttitudeAnglesUnit

◆ InitCovarianceBiasAccelUnit

◆ InitCovarianceBiasGyroUnit

◆ InitCovariancePositionUnit

◆ InitCovarianceVelocityUnit

◆ KFMeas

◆ KFStates

◆ PhiCalculationAlgorithm

◆ QCalculationAlgorithm

◆ RandomProcess

◆ StdevAccelBiasUnits

◆ StdevAccelNoiseUnits

◆ StdevGyroBiasUnits

◆ StdevGyroNoiseUnits

Member Function Documentation

◆ deinitialize()

◆ e_measurementInnovation_dz()

◆ e_measurementMatrix_H()

◆ e_measurementNoiseCovariance_R()

◆ e_systemMatrix_F()

◆ e_systemNoiseCovarianceMatrix_Q()

◆ guiConfig()

◆ initialErrorCovarianceMatrix_P0()

◆ initialize()

◆ invokeCallbackWithPosVelAtt()

◆ looselyCoupledPrediction()

◆ looselyCoupledUpdate()

◆ n_measurementInnovation_dz()

◆ n_measurementMatrix_H()

◆ n_measurementNoiseCovariance_R()

◆ n_systemMatrix_F()

◆ n_systemNoiseCovarianceMatrix_Q()

◆ noiseInputMatrix_G()

◆ noiseScaleMatrix_W()

◆ recvImuObservation()

◆ recvPosVelAttInit()

◆ recvPosVelObservation()

◆ restore()

◆ save()

◆ type()

Member Data Documentation

◆ _stdev_bad

◆ _stdev_bgd

◆ _stdev_ra

◆ _stdev_rg