Function navtk::inertial::mechanization_standard(const Vector3&, const Vector3&, double, const not_null<std::shared_ptr<InertialPosVelAtt>>, const not_null<std::shared_ptr<InertialPosVelAtt>>, const MechanizationOptions&, AidingAltData *)

Function Documentation

not_null<std::shared_ptr<InertialPosVelAtt>> navtk::inertial::mechanization_standard(const Vector3 &dv_s, const Vector3 &dth_s, double dt, const not_null<std::shared_ptr<InertialPosVelAtt>> pva, const not_null<std::shared_ptr<InertialPosVelAtt>> old_pva, const MechanizationOptions &mech_options = MechanizationOptions{}, AidingAltData *aiding_alt_data = nullptr)

Perform a single mechanization of delta velocity and delta rotation measurements using NED-frame-referenced attitude and velocity and WGS84 polar coordinates.

Based on equations found in Titterton and Weston, Strapdown Inertial Navigation Technology. Not for use near poles.

Parameters

  • dv_s – Vector3 of delta velocity measurements in the inertial sensor frame, m/s.

  • dth_s – Vector3 of delta rotations in the inertial sensor frame, rad.

  • dt – Time over which dv_s and dth_s were collected (and thus time to mechanize over), seconds.

  • pva – Position, velocity and attitude data at the start of the mechanization interval.

  • old_pva – Position, velocity, and attitude data from the start of the previous mechanization interval.

  • mech_options – Mechanization options to use. This function only honors the grav_model, dcm_method and int_method fields.

  • aiding_alt_data – Container holding an external altitude measurement in m HAE, the accumulated error resulting from the aiding the altitude in the inertial’s mechanization, and additional options for the aiding algorithm.

Returns

Non-null shared_ptr to a StandardPosVelAtt instance that contains the post-mechanization PVA values.