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

• Defined in File inertial_functions.hpp

Function Documentation

Vector3 navtk::inertial::calc_rot_rate(const aspn_xtensor::MeasurementPositionVelocityAttitude &pva1, const aspn_xtensor::MeasurementPositionVelocityAttitude &pva2)

Calculates the average rotation rates over an interval from the change in attitude and delta time between two sets of PVA.

Note that since the attitude contained in MeasurementPositionVelocityAttitude is stored as a DCM, the largest observable difference between two attitudes is 2PI. Any rotation rates larger than 2PI will be unobservable. Additionally, this implementation assumes that rotation rates are small (like those experienced by an inertial system sampling several times per second). If the difference between the two attitudes is large then the calculated rate will have significant inaccuracies.

Parameters

• pva1 – The first PVA, whose timestamp denotes the start of the interval.

• pva2 – The second PVA, whose timestamp denotes the end of the interval.

Returns

The average rotation rates over the period.