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0.2.0
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0.2.0
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Binary Group 6 – INS Outputs. More...
Public Attributes | |
| Eigen::Vector3f | accelEcef |
| Compensated acceleration (ECEF) | |
| vn::protocol::uart::InsGroup | insField |
| Available data in this struct. | |
| InsStatus | insStatus |
| Ins Status. | |
| Eigen::Vector3f | linearAccelEcef |
| Compensated linear acceleration (no gravity) (ECEF) | |
| Eigen::Vector3f | magEcef |
| Compensated magnetic (ECEF) | |
| Eigen::Vector3d | posEcef |
| Ins Position (ECEF) | |
| Eigen::Vector3d | posLla |
| Ins Position (latitude, longitude, altitude) | |
| float | posU |
| Ins Position Uncertainty. | |
| Eigen::Vector3f | velBody |
| Ins Velocity (Body) | |
| Eigen::Vector3f | velEcef |
| Ins Velocity (ECEF) | |
| Eigen::Vector3f | velNed |
| Ins Velocity (NED) | |
| float | velU |
| Ins Velocity Uncertainty. | |
Binary Group 6 – INS Outputs.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::accelEcef |
Compensated acceleration (ECEF)
The estimated acceleration (with gravity) reported in m/s^2, given in the Earth centered Earth fixed (ECEF) frame. The acceleration measurement has been bias compensated by the onboard INS filter. This measurement is attitude dependent, since the attitude is used to map the measurement from the body frame into the inertial (ECEF) frame. If the device is stationary and the INS filter is tracking, the measurement should be nominally equivalent to the gravity reference vector in the inertial frame (ECEF).
| InsStatus NAV::vendor::vectornav::InsOutputs::insStatus |
Ins Status.
The INS status bitfield. See the INS Solution - LLA Register in the INS subsystem for more information on the individual bits in this field.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::linearAccelEcef |
Compensated linear acceleration (no gravity) (ECEF)
The estimated linear acceleration (without gravity) reported in m/s^2, and given in the Earth centered Earth fixed (ECEF) frame. This measurement is attitude dependent as the attitude solution is used to map the measurement from the body frame into the inertial (ECEF) frame. This acceleration measurement has been bias compensated by the onboard INS filter, and the gravity component has been removed using the current gravity reference vector estimate. If the device is stationary and the onboard INS filter is tracking, the measurement will nominally read 0 in all three axes.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::magEcef |
Compensated magnetic (ECEF)
The compensated magnetic measurement in the Earth centered Earth fixed (ECEF) frame, given in Gauss.
| Eigen::Vector3d NAV::vendor::vectornav::InsOutputs::posEcef |
Ins Position (ECEF)
The estimated position given in the Earth centered Earth fixed (ECEF) frame, reported in meters.
| Eigen::Vector3d NAV::vendor::vectornav::InsOutputs::posLla |
Ins Position (latitude, longitude, altitude)
The estimated position given as latitude, longitude, and altitude given in [deg, deg, m] respectively.
| float NAV::vendor::vectornav::InsOutputs::posU |
Ins Position Uncertainty.
The estimated uncertainty (1 Sigma) in the current position estimate, given in meters.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::velBody |
Ins Velocity (Body)
The estimated velocity in the body frame, given in m/s.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::velEcef |
Ins Velocity (ECEF)
The estimated velocity in the Earth centered Earth fixed (ECEF) frame, given in m/s.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::velNed |
Ins Velocity (NED)
The estimated velocity in the North East Down (NED) frame, given in m/s.
| float NAV::vendor::vectornav::InsOutputs::velU |
Ins Velocity Uncertainty.
The estimated uncertainty (1 Sigma) in the current velocity estimate, given in m/s.
1.10.0