Function navtk::inertial::calc_rot_rate(const aspn_xtensor::MeasurementPositionVelocityAttitude&, double, const Vector3&)

• Defined in File inertial_functions.hpp

Function Documentation

Vector3 navtk::inertial::calc_rot_rate(const aspn_xtensor::MeasurementPositionVelocityAttitude &pva, double dt, const Vector3 &dth)

Converts a measured delta rotation vector (sensor with respect to inertial frame) to a rotation rate vector with respect to the navigation (NED) frame by removing the net effects of the earths rotation with respect to the inertial frame \( \omega^{n}_{ie} \) and the rotation of the navigation frame with respect to the earth \( \omega^{n}_{en} \).

Uses constants defined by WGS84.hpp; for finer control over earth model parameters use overload.

Parameters

• pva – Position, velocity and attitude at beginning of inertial measurement period.

• dt – Delta time that dth was measured over.

• dth – Vector3 of delta rotations over dt in the inertial sensor frame, \( \Theta^{s}_{is} \) rad.

Returns

Inertial sensor rotation rate with respect to the navigation frame coordinatized in the sensor frame, \( \omega^{s}_{ns}\).