NAV::Keys Namespace Reference

Data Structures
struct	InterFreqBias
	Inter-frequency bias. More...
struct	RecvClkBias
	Receiver clock error [m]. More...
struct	RecvClkDrift
	Receiver clock drift [m/s]. More...

Enumerations
enum	InertialNavigationKey : uint8_t {   AccelBiasX ,   AccelBiasY ,   AccelBiasZ ,   GyroBiasX ,   GyroBiasY ,   GyroBiasZ ,   AccelScaleFactorX ,   AccelScaleFactorY ,   AccelScaleFactorZ ,   GyroScaleFactorX ,   GyroScaleFactorY ,   GyroScaleFactorZ ,   AccelMisalignmentQ1 ,   AccelMisalignmentQ2 ,   AccelMisalignmentQ3 ,   AccelMisalignmentQ0 ,   GyroMisalignmentQ1 ,   GyroMisalignmentQ2 ,   GyroMisalignmentQ3 ,   GyroMisalignmentQ0 ,   InertialNavigationKey_COUNT }
	Keys used in the model. More...
enum	MotionModelKey : uint8_t {   PosX ,   PosY ,   PosZ ,   VelX ,   VelY ,   VelZ ,   AttQ1 ,   AttQ2 ,   AttQ3 ,   AttQ0 ,   MotionModelKey_COUNT }
	Keys used in the model. More...

Variables
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	AccelBias
	All accelerometer bias keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 4 >	AccelMisalignment
	All accelerometer misalignment quaternion keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	AccelScaleFactor
	All accelerometer scale factor keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 4 >	Att
	All attitude keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	GyroBias
	All gyroscope bias keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 4 >	GyroMisalignment
	All gyroscope misalignment quaternion keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	GyroScaleFactor
	All gyroscope scale factor keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	Pos
	All position keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 6 >	PosVel
	Vector with all position and velocity keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 10 >	PosVelAtt
	Vector with all position velocity and attitude keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	Vel
	All velocity keys.

Enumeration Type Documentation

InertialNavigationKey

enum NAV::Keys::InertialNavigationKey : uint8_t

Keys used in the model.

Enumerator
AccelBiasX	Accelerometer bias X [m/s^2].
AccelBiasY	Accelerometer bias Y [m/s^2].
AccelBiasZ	Accelerometer bias Z [m/s^2].
GyroBiasX	Gyroscope bias X [rad/s].
GyroBiasY	Gyroscope bias Y [rad/s].
GyroBiasZ	Gyroscope bias Z [rad/s].
AccelScaleFactorX	Accelerometer scale factor X [-].
AccelScaleFactorY	Accelerometer scale factor Y [-].
AccelScaleFactorZ	Accelerometer scale factor Z [-].
GyroScaleFactorX	Gyroscope scale factor X [-].
GyroScaleFactorY	Gyroscope scale factor Y [-].
GyroScaleFactorZ	Gyroscope scale factor Z [-].
AccelMisalignmentQ1	Accelerometer misalignment quaternion x: Coefficient of i.
AccelMisalignmentQ2	Accelerometer misalignment quaternion y: Coefficient of j.
AccelMisalignmentQ3	Accelerometer misalignment quaternion z: Coefficient of k.
AccelMisalignmentQ0	Accelerometer misalignment quaternion w: Real (scalar) part of the Quaternion.
GyroMisalignmentQ1	Gyroscope misalignment quaternion x: Coefficient of i.
GyroMisalignmentQ2	Gyroscope misalignment quaternion y: Coefficient of j.
GyroMisalignmentQ3	Gyroscope misalignment quaternion z: Coefficient of k.
GyroMisalignmentQ0	Gyroscope misalignment quaternion w: Real (scalar) part of the Quaternion.
InertialNavigationKey_COUNT	Count.

Definition at line 25 of file Keys.hpp.

MotionModelKey

enum NAV::Keys::MotionModelKey : uint8_t

Keys used in the model.

Enumerator
PosX	Position ECEF_X [m].
PosY	Position ECEF_Y [m].
PosZ	Position ECEF_Z [m].
VelX	Velocity ECEF_X [m/s].
VelY	Velocity ECEF_Y [m/s].
VelZ	Velocity ECEF_Z [m/s].
AttQ1	x: Coefficient of i
AttQ2	y: Coefficient of j
AttQ3	z: Coefficient of k
AttQ0	w: Real (scalar) part of the Quaternion
MotionModelKey_COUNT	Count.

Definition at line 39 of file MotionModel.hpp.

Variable Documentation

AccelBias

template<typename StateKeyType>

std::array<StateKeyType, 3> NAV::Keys::AccelBias

constexpr

All accelerometer bias keys.

Definition at line 55 of file Keys.hpp.

AccelMisalignment

template<typename StateKeyType>

std::array<StateKeyType, 4> NAV::Keys::AccelMisalignment

constexpr

All accelerometer misalignment quaternion keys.

Definition at line 69 of file Keys.hpp.

AccelScaleFactor

template<typename StateKeyType>

std::array<StateKeyType, 3> NAV::Keys::AccelScaleFactor

constexpr

All accelerometer scale factor keys.

Definition at line 62 of file Keys.hpp.

Att

template<typename StateKeyType>

std::array<StateKeyType, 4> NAV::Keys::Att

constexpr

All attitude keys.

Definition at line 62 of file MotionModel.hpp.

GyroBias

template<typename StateKeyType>

std::array<StateKeyType, 3> NAV::Keys::GyroBias

constexpr

All gyroscope bias keys.

Definition at line 58 of file Keys.hpp.

GyroMisalignment

template<typename StateKeyType>

std::array<StateKeyType, 4> NAV::Keys::GyroMisalignment

constexpr

All gyroscope misalignment quaternion keys.

Definition at line 72 of file Keys.hpp.

GyroScaleFactor

template<typename StateKeyType>

std::array<StateKeyType, 3> NAV::Keys::GyroScaleFactor

constexpr

All gyroscope scale factor keys.

Definition at line 65 of file Keys.hpp.

Pos

template<typename StateKeyType>

std::array<StateKeyType, 3> NAV::Keys::Pos

constexpr

All position keys.

Definition at line 56 of file MotionModel.hpp.

PosVel

template<typename StateKeyType>

std::array<StateKeyType, 6> NAV::Keys::PosVel

constexpr

Vector with all position and velocity keys.

Definition at line 66 of file MotionModel.hpp.

PosVelAtt

template<typename StateKeyType>

std::array<StateKeyType, 10> NAV::Keys::PosVelAtt

constexpr

Vector with all position velocity and attitude keys.

Definition at line 70 of file MotionModel.hpp.

Vel

template<typename StateKeyType>

std::array<StateKeyType, 3> NAV::Keys::Vel

constexpr

All velocity keys.

Definition at line 59 of file MotionModel.hpp.