Specialized Template Function navtk::filtering::apply_error_states< Pinson15NedBlock >(const aspn_xtensor::MeasurementPositionVelocityAttitude&, const Vector&)

• Defined in File apply_error_states.hpp

Function Documentation

template<>
aspn_xtensor::MeasurementPositionVelocityAttitude navtk::filtering::apply_error_states<Pinson15NedBlock>(const aspn_xtensor::MeasurementPositionVelocityAttitude &pva, const Vector &x)

Correct a MeasurementPositionVelocityAttitude container with a Pinson15NedBlock error state vector.

Parameters

• pva – Raw MeasurementPositionVelocityAttitude.

• x – Error state Vector, where the first 9 states are north, east and down position error in meters; north, east and down velocity error in m/s, and north, east and down tilt errors in radians. Additional states are unused in the correction.

Returns

Corrected MeasurementPositionVelocityAttitude.