Auxiliary Data

Auxiliary data (usually just called “aux data”, for brevity) is an escape hatch to provide a pntOS-Python component with some sort of extra information not otherwise provided by the API. The components which can be provided with aux data are:

• Measurement processors

• State blocks

• Virtual state blocks

In the most common case, where these components are being used via a fusion engine rather than directly by the Orchestration plugin, aux data can be routed to these components via the fusion engine. For example, the StandardFusionEngine has the methods:

• give_measurement_processor_aux_data

• give_state_block_aux_data

• give_virtual_state_block_aux_data

One of the most common use-cases is a measurement processor which provides a measurement model for an error-state filter. In the case, it will need a reference solution (usually from an INS) in order to calculate its model.

One other key use-case is the Pinson15NedBlock which, in addition to an inertial solution, also requires specific forces and rotation rates.