Function navtk::filtering::sagem_primus200_model

Function Documentation

ImuModel navtk::filtering::sagem_primus200_model()

Returns an IMU model for the Sagem Primus 200.

Spec sheet values given as:

Accel Bias: 2 mg (rms) = 0.01962 m/s^2

VRW: 60ug /sqrt(Hz) at 100 hz sample rate = 5.886e-5 m/s^(3/2)

Gyro bias: 0.05 deg/hr = 2.4240684e-07 rad/s

ARW: 0.004 deg/sqrt(hr) = 1.1635528e-06 rad/s^(1/2)

Accel scale factor: 500 ppm (rms)

Gyro scale factor: 10 ppm (rms)