Class Mechanization

Inheritance Relationships

Derived Type

Class Documentation

class Mechanization

Base class that performs IMU mechanization.

Can be used as an alternative to mechanization function pointers to enable mechanization that carries state.

Subclassed by navtk::inertial::MechanizationStandard

Public Functions

virtual ~Mechanization() = default
virtual not_null<std::shared_ptr<InertialPosVelAtt>> mechanize(const Vector3 &dv_s, const Vector3 &dth_s, double dt, const not_null<std::shared_ptr<InertialPosVelAtt>> pva, const not_null<std::shared_ptr<InertialPosVelAtt>> old_pva, const MechanizationOptions &mech_options, AidingAltData *aiding_alt_data) = 0

Perform a single mechanization of delta velocity and delta rotation measurements to propagate a position, velocity and attitude forward.

Parameters

  • dv_s – Vector3 of delta velocity measurements in the inertial sensor frame, m/s.

  • dth_s – Vector3 of delta rotations in the inertial sensor frame, rad.

  • dt – Time over which dv_s and dth_s were collected (and thus time to mechanize over), seconds.

  • pva – Position, velocity and attitude data at the start of the mechanization interval.

  • old_pva – Position, velocity, and attitude data from the start of the previous mechanization interval.

  • mech_options – Mechanization options to use.

  • aiding_alt_data – Container holding an external altitude measurement in m HAE, the accumulated error resulting from the aiding the altitude in the inertial’s mechanization, and additional options for the aiding algorithm.

Returns

Non-null shared_ptr to an InertialPosVelAtt instance that contains the post-mechanization PVA values.

Protected Functions

Mechanization() = default