Function navtk::navutils::d_rpy_tilt_corr_wrt_tilt

Defined in File derivatives.hpp

Function Documentation

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

Derivative of the RPY representation of the ‘standard’ tilt corrected DCM wrt the tilt vector.

In other words \( \frac{\partial f}{\delta \psi} dcm_to_rpy(C^b_n[I - \Psi]) \) where \( \Psi \) is the skew-symmetric format of tilt vector \( \psi \).

Parameters

tilts – NED frame x, y, z, tilt errors.
C_nav_to_platform – Nav to platform/sensor DCM.

Returns

Derivative wrt and evaluated at tilts.