Plugin Reference

In this section we will explore each type of plugin with greater resolution. As a point of reference, let’s walk through this graphic:

Overview Image

Notice that the App starts the Controller Plugin, which then hands a Mediator to all the other plugins which controls the flow of data through the system. Data comes into the system from the platform through Transport Plugins (or for more specialized cases, the Platform Integration plugin) which then pass data on to the Orchestration Plugin.

The Orchestration Plugin can optionally incorporate other plugins to implement a sensor fusion filter. These optional plugins include:

Fusion Plugin: Used by the Orchestration Plugin to generate a sensor fusion engine. The Orchestration Plugin can use components from the following plugins to assemble the fusion engine.
- Fusion Strategy Plugin: Provides an estimation strategy to the fusion engine.
- State Modeling Plugin: Keeps track of states and how measurements should update those states.
Inertial Plugin: Performs mechanization for an IMU.
Initialization Plugin: Performs any filter initialization (e.g. implementing an IMU alignment strategy).
Preprocessor Plugin: Performs any preprocessing of data before it reaches the filter (e.g. performing sensor-to-platform frame rotations).

Additionally, all plugins have access to the Registry Plugin and Logging Plugin via the mediator.

Other plugins such as the UI Plugin, Platform Integration plugin, or the Utility Plugin optionally provide the system with expanded capabilities.

See the below pages for descriptions of various plugins, as well as any related components: