Function navtk::navutils::d_ortho_dcm_wrt_tilt

• Defined in File derivatives.hpp

Function Documentation

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

Derivative of the ortho_dcm() function wrt a single tilt element.

Note that the orthonormalization function is iterative, and this derivative is for only a single iteration.

Parameters

• C_nav_to_platform – Reference to platform DCM.

• tilts – Tilt correction vector, estimated reference to corrected reference (radians).

• dtilt – Derivative of the skew-symmetric matrix of tilts wrt the element the overall derivative is to be with respect to. For instance, if C_nav_to_platform is the NED to platform DCM, and the derivative is to be wrt the down (z) tilt element, then this parameter would be \(\begin{bmatrix} 0 & -1 & 0 \\ 1 & 0 & 0 \\ 0 & 0 & 0 \end{bmatrix} \).

Returns

Derivative of the corrected and orthonormalized DCM wrt one of the tilt elements.