Function navtk::filtering::hg9900_model

• Defined in File ImuModel.hpp

Function Documentation

ImuModel navtk::filtering::hg9900_model()

Returns the Honeywell HG9900 IMU model.

Bias tau values are assumed.

See https://prod-edam.honeywell.com/content/dam/honeywell-edam/aero/en-us/products/navigation-and-sensors/inertial-measurement-units/hg9900-inertial-measurement-unit/documents/hon-aero-n61-1638-000-000-hg9900-inertial-measurement-unit-brochure-en.pdf?download=false Spec sheet values given as (all 1 sigma):

Accel Bias: 25 ug = 2.4525e-4 m/s^2

VRW: 0 (None listed) set to 1e-12 to avoid numerical issues

Gyro bias: 0.0035 deg/hr = 1.6968e-8 rad/s

ARW: 0.002 deg/sqrt(hr) max = 5.8178e-7 rad/s^(1/2).

Accel scale factor: 100 ppm.

Gyro scale factor: 5 ppm.

Conversions assume gravity value of 9.81 m/s^2.

Returns

The error characteristics of on an HG9900 IMU.