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0.4.1
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0.4.1
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Binary Group 6 - INS Outputs. More...
Data Fields | |
| 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.
Definition at line 25 of file InsOutputs.hpp.
| 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).
Definition at line 73 of file InsOutputs.hpp.
| vn::protocol::uart::InsGroup NAV::vendor::vectornav::InsOutputs::insField |
Available data in this struct.
Definition at line 28 of file InsOutputs.hpp.
| 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.
Definition at line 34 of file InsOutputs.hpp.
| 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.
Definition at line 83 of file InsOutputs.hpp.
| 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.
Definition at line 64 of file InsOutputs.hpp.
| 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.
Definition at line 44 of file InsOutputs.hpp.
| 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.
Definition at line 39 of file InsOutputs.hpp.
| float NAV::vendor::vectornav::InsOutputs::posU |
Ins Position Uncertainty.
The estimated uncertainty (1 Sigma) in the current position estimate, given in meters.
Definition at line 88 of file InsOutputs.hpp.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::velBody |
Ins Velocity (Body)
The estimated velocity in the body frame, given in m/s.
Definition at line 49 of file InsOutputs.hpp.
| 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.
Definition at line 59 of file InsOutputs.hpp.
| Eigen::Vector3f NAV::vendor::vectornav::InsOutputs::velNed |
Ins Velocity (NED)
The estimated velocity in the North East Down (NED) frame, given in m/s.
Definition at line 54 of file InsOutputs.hpp.
| float NAV::vendor::vectornav::InsOutputs::velU |
Ins Velocity Uncertainty.
The estimated uncertainty (1 Sigma) in the current velocity estimate, given in m/s.
Definition at line 93 of file InsOutputs.hpp.
1.13.2