Function navtk::navutils::d_rpy_correct_dcm_with_tilt_wrt_tilt

Function Documentation

Matrix3 navtk::navutils::d_rpy_correct_dcm_with_tilt_wrt_tilt(const Vector3 &tilts, const Matrix3 &C_nav_to_platform)

Derivative of the correct_dcm_with_tilt() function wrt to the tilts.

Derivative does not exist when the magnitude of the tilts is 0. Result will include ‘inf’ in this case.

Parameters

  • tilts – NED frame x, y, z, tilt errors, rad.

  • C_nav_to_platform – Nav to platform/sensor DCM.

Returns

Derivative wrt and evaluated at tilts.