Function navtk::inertial::mechanization_standard(const Vector3&, const Vector3&, double, const Vector3&, const Matrix3&, const Vector3&, const Vector3&, const MechanizationOptions&, AidingAltData *)

Function Documentation

std::tuple<Vector3, Vector3, Matrix3> navtk::inertial::mechanization_standard(const Vector3 &dv_s, const Vector3 &dth_s, double dt, const Vector3 &llh0, const Matrix3 &C_s_to_n0, const Vector3 &v_ned0, const Vector3 &v_ned_prev, 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.

  • llh0 – Latitude, longitude and ellipsoidal altitude at the start of mechanization, in radians, radians, meters respectively.

  • C_s_to_n0 – DCM that rotates from the inertial sensor frame to the NED frame.

  • v_ned0 – NED frame velocity measurements at the start of mechanization, m/s.

  • v_ned_prev – NED frame velocity measurement

  • 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, and the accumulated error resulting from the aiding the altitude in the inertial’s mechanization.

Returns

A 3-element tuple consisting of the post-mechanization values of position, velocity and attitude (in same format as llh0, v_ned0 and C_s_to_n0, respectively).