Inertial state and measurements. More...

Public Attributes
Eigen::Quaternion< T >	attitude
	IMU attitude (e_Quat_b / n_Quat_b)

InsTime	epoch
	Epoch of this state.

Measurement	m
	Inertial measurement.

Eigen::Quaternion< T >	misalignmentAccel
	Misalignment of the accelerometer sensor axes.

Eigen::Quaternion< T >	misalignmentGyro
	Misalignment of the gyroscope sensor axes.

Eigen::Vector3< T >	p_biasAcceleration
	Acceleration bias in platform frame coordinates in [m/s^2].

Eigen::Vector3< T >	p_biasAngularRate
	Angular rate bias in platform frame coordinates in [rad/s].

Eigen::Vector3< T >	position
	IMU position (e_pos / lla_pos)

Eigen::Vector3< T >	scaleFactorAccel
	Scale factor of the accelerometer [-].

Eigen::Vector3< T >	scaleFactorGyro
	Scale factor of the gyroscope [-].

Eigen::Vector3< T >	velocity
	IMU velocity (e_vel / n_vel)

Detailed Description

template<typename T>
struct NAV::InertialIntegrator::GenericState< T >

Inertial state and measurements.

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

Public Attributes