Function navtk::inertial::quaternion_static_alignment

Function Documentation

Matrix3 navtk::inertial::quaternion_static_alignment(const Vector3 &dv_avg, const Vector3 &dth_avg)

Performs a stationary alignment using quaternions to find the local solution that minimizes the components of accel/gyro in the down and East directions respectively.

Data passed in must be contiguous from a strapdown inertial that was stationary during the duration of the data.

Parameters

  • dv_avg – Average dv collected from a time series of stationary data, m/s

  • dth_avg – Average dth collected from a time series of stationary data, rad

Throws

std::runtime_error – when either of the the residual horizontal acceleration components in the NED frame are >= than 1e-10, or the residual rotation rate in the east direction is >= 1e-10, but only if the error mode is ErrorMode::DIE for either case.

Returns

The 3x3 C_sensor_to_nav rotation matrix between sensor and navigation (North-East-Down) frames.