NAV::InertialIntegrator::GenericState< T > Struct Template Reference

Inertial state and measurements. More...

Data Fields
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.

Definition at line 74 of file InertialIntegrator.hpp.

Field Documentation

attitude

template<typename T>

Eigen::Quaternion<T> NAV::InertialIntegrator::GenericState< T >::attitude

IMU attitude (e_Quat_b / n_Quat_b)

Definition at line 80 of file InertialIntegrator.hpp.

epoch

template<typename T>

InsTime NAV::InertialIntegrator::GenericState< T >::epoch

Epoch of this state.

Definition at line 76 of file InertialIntegrator.hpp.

m

template<typename T>

Measurement NAV::InertialIntegrator::GenericState< T >::m

Inertial measurement.

Definition at line 82 of file InertialIntegrator.hpp.

misalignmentAccel

template<typename T>

Eigen::Quaternion<T> NAV::InertialIntegrator::GenericState< T >::misalignmentAccel

Misalignment of the accelerometer sensor axes.

Definition at line 90 of file InertialIntegrator.hpp.

misalignmentGyro

template<typename T>

Eigen::Quaternion<T> NAV::InertialIntegrator::GenericState< T >::misalignmentGyro

Misalignment of the gyroscope sensor axes.

Definition at line 91 of file InertialIntegrator.hpp.

p_biasAcceleration

template<typename T>

Eigen::Vector3<T> NAV::InertialIntegrator::GenericState< T >::p_biasAcceleration

Acceleration bias in platform frame coordinates in [m/s^2].

Definition at line 84 of file InertialIntegrator.hpp.

p_biasAngularRate

template<typename T>

Eigen::Vector3<T> NAV::InertialIntegrator::GenericState< T >::p_biasAngularRate

Angular rate bias in platform frame coordinates in [rad/s].

Definition at line 85 of file InertialIntegrator.hpp.

position

template<typename T>

Eigen::Vector3<T> NAV::InertialIntegrator::GenericState< T >::position

IMU position (e_pos / lla_pos)

Definition at line 78 of file InertialIntegrator.hpp.

scaleFactorAccel

template<typename T>

Eigen::Vector3<T> NAV::InertialIntegrator::GenericState< T >::scaleFactorAccel

Scale factor of the accelerometer [-].

Definition at line 87 of file InertialIntegrator.hpp.

scaleFactorGyro

template<typename T>

Eigen::Vector3<T> NAV::InertialIntegrator::GenericState< T >::scaleFactorGyro

Scale factor of the gyroscope [-].

Definition at line 88 of file InertialIntegrator.hpp.

velocity

template<typename T>

Eigen::Vector3<T> NAV::InertialIntegrator::GenericState< T >::velocity

IMU velocity (e_vel / n_vel)

Definition at line 79 of file InertialIntegrator.hpp.

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

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