Function navtk::inertial::calc_force_and_acceleration_offset

Function Documentation

Vector3 navtk::inertial::calc_force_and_acceleration_offset(double r_e, double r_n, double alt0, double cos_l, const Vector3 &g, double sec_l, double sin_l, const Vector3 &v_ned0, double omega = navutils::ROTATION_RATE)

Calculates an offset that can be used to convert between NED forces and accelerations.

See also

navtk::navutils::transverse_radius.

See also

navtk::navutils::meridian_radius.

Parameters

  • r_e –

  • r_n –

  • alt0 – The inertial’s current ellipsoidal altitude, m.

  • cos_l – Cosine of inertial latitude.

  • g – Estimated local gravity along North, East and Down axes, m/s^2.

  • sec_l – Secant of inertial latitude.

  • sin_l – Sine of inertial latitude.

  • v_ned0 – Vector3 of inertial velocity in the NED frame, m/s.

  • omega – Earth rotation rate, rad/s.

Returns

The offset between NED forces and accelerations such that forces + offset = accelerations.