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

• Defined in File mechanization_wander.hpp

Function Documentation

not_null<std::shared_ptr<InertialPosVelAtt>> navtk::inertial::mechanization_wander(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>>, const MechanizationOptions &mech_options = MechanizationOptions{}, AidingAltData *aiding_alt_data = nullptr)

Perform a single mechanization of delta velocity and delta rotation measurements in the wander azimuth frame.

Based on equations found in Strapdown Analytics by Paul Savage, primarily Vol 1, Ch. 7.

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. Ideally an instance that incorporates knowledge of the wander frame (such as WanderPosVelAtt); otherwise mechanization is performed assuming a starting wander angle of 0.

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

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

Returns

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