Typedefs
using	StateVector = std::array<floating_point, STATE_SIZE>
using	CovarianceMatrix = clockwerk::Matrix<STATE_SIZE, STATE_SIZE>
using	PropagateObsVector = std::array<floating_point, PROPAGATE_OBSERVER_SIZE>
using	SunObsVector = std::array<floating_point, SUN_OBSERVER_SIZE>
using	SunMeasVector = std::array<floating_point, SUN_MEAS_SIZE>
using	MagObsVector = std::array<floating_point, MAG_OBSERVER_SIZE>
using	MagMeasVector = std::array<floating_point, MAG_MEAS_SIZE>
using	GpsObsVector = std::array<floating_point, GPS_OBSERVER_SIZE>
using	GpsMeasVector = std::array<floating_point, GPS_MEAS_SIZE>

Variables
constexpr uint32	STATE_POS_IDX = 0
constexpr uint32	STATE_VEL_IDX = 3
constexpr uint32	STATE_QUAT_IDX = 6
constexpr uint32	STATE_GYRO_BIAS_IDX = 10
constexpr uint32	STATE_ACCEL_BIAS_IDX = 13
constexpr uint32	STATE_SIZE = 16
constexpr uint32	PROPAGATE_GRAV_ACCEL_IDX = 0
constexpr uint32	PROPAGATE_GYRO_MEAS_IDX = 3
constexpr uint32	PROPAGATE_ACCEL_MEAS_IDX = 6
constexpr uint32	PROPAGATE_PI_POS_IDX = 9
constexpr uint32	PROPAGATE_OBSERVER_SIZE = 12
constexpr uint32	SUN_EXPECTED_SUN_VEC_IDX = 0
constexpr uint32	SUN_ALIGNMENT_QUAT_IDX = 3
constexpr uint32	SUN_OBSERVER_SIZE = 7
constexpr uint32	MAG_EXPECTED_MAG_VEC_IDX = 0
constexpr uint32	MAG_ALIGNMENT_QUAT_IDX = 3
constexpr uint32	MAG_OBSERVER_SIZE = 3
constexpr uint32	GPS_REFERENCE_FRAME_QUAT_IDX = 0
constexpr uint32	GPS_OBSERVER_SIZE = 4
constexpr uint32	PROCESS_NOISE_POS_IDX = 0
constexpr uint32	PROCESS_NOISE_VEL_IDX = 3
constexpr uint32	PROCESS_NOISE_QUAT_IDX = 6
constexpr uint32	PROCESS_NOISE_GYRO_BIAS_IDX = 10
constexpr uint32	PROCESS_NOISE_ACCEL_BIAS_IDX = 13
constexpr uint32	PROCESS_NOISE_SIZE = 16
constexpr uint32	SUN_NOISE_SUN_VEC_IDX = 0
constexpr uint32	SUN_NOISE_SIZE = 3
constexpr uint32	MAG_NOISE_MAG_VEC_IDX = 0
constexpr uint32	MAG_NOISE_SIZE = 3
constexpr uint32	GPS_NOISE_POS_IDX = 0
constexpr uint32	GPS_NOISE_SIZE = 3
constexpr uint32	SUN_MEAS_SUN_VEC_IDX = 0
constexpr uint32	SUN_MEAS_SIZE = 3
constexpr uint32	MAG_MEAS_MAG_VEC_IDX = 0
constexpr uint32	MAG_MEAS_SIZE = 3
constexpr uint32	GPS_MEAS_POS_IDX = 0
constexpr uint32	GPS_MEAS_SIZE = 3

Typedef Documentation

◆ CovarianceMatrix

using inertial_nav::CovarianceMatrix = clockwerk::Matrix<STATE_SIZE, STATE_SIZE>

◆ GpsMeasVector

using inertial_nav::GpsMeasVector = std::array<floating_point, GPS_MEAS_SIZE>

◆ GpsObsVector

using inertial_nav::GpsObsVector = std::array<floating_point, GPS_OBSERVER_SIZE>

◆ MagMeasVector

using inertial_nav::MagMeasVector = std::array<floating_point, MAG_MEAS_SIZE>

◆ MagObsVector

using inertial_nav::MagObsVector = std::array<floating_point, MAG_OBSERVER_SIZE>

◆ PropagateObsVector

using inertial_nav::PropagateObsVector = std::array<floating_point, PROPAGATE_OBSERVER_SIZE>

◆ StateVector

using inertial_nav::StateVector = std::array<floating_point, STATE_SIZE>

GPS Measurement Vector Format: [0-2] Position of the body frame (B) with respect to the pseudo-inertial frame (pI) resolved in the pI frame

◆ SunMeasVector

using inertial_nav::SunMeasVector = std::array<floating_point, SUN_MEAS_SIZE>

◆ SunObsVector

using inertial_nav::SunObsVector = std::array<floating_point, SUN_OBSERVER_SIZE>

Variable Documentation

◆ GPS_MEAS_POS_IDX

uint32 inertial_nav::GPS_MEAS_POS_IDX = 0

constexpr

Magnetometer Measurement Vector Format: [0-2] Local magnetic field at sensor location expressed in the body frame (B)

◆ GPS_MEAS_SIZE

uint32 inertial_nav::GPS_MEAS_SIZE = 3

constexpr

◆ GPS_NOISE_POS_IDX

uint32 inertial_nav::GPS_NOISE_POS_IDX = 0

constexpr

Magnetometer Measurement Noise Vector Format: [0-2] Measurement noise (as standard deviation) of the local magnetic field at sensor location expressed in the magnetometer frame (MAG)

◆ GPS_NOISE_SIZE

uint32 inertial_nav::GPS_NOISE_SIZE = 3

constexpr

◆ GPS_OBSERVER_SIZE

uint32 inertial_nav::GPS_OBSERVER_SIZE = 4

constexpr

◆ GPS_REFERENCE_FRAME_QUAT_IDX

uint32 inertial_nav::GPS_REFERENCE_FRAME_QUAT_IDX = 0

constexpr

Magnetometer Observer Vector Format: [0-2] Local magnetic field at sensor location expressed in the pseudo-inertial frame (pI) [3-6] Attitude of magnetometer wrt body (as quaternion)

◆ MAG_ALIGNMENT_QUAT_IDX

uint32 inertial_nav::MAG_ALIGNMENT_QUAT_IDX = 3

constexpr

◆ MAG_EXPECTED_MAG_VEC_IDX

uint32 inertial_nav::MAG_EXPECTED_MAG_VEC_IDX = 0

constexpr

Sun Sensor Observer Vector Format: [0-2] Expected sun pointing vector at sensor location expressed in the pseudo-inertial frame (pI) [3-6] Attitude of sun sensor wrt body (as quaternion)

◆ MAG_MEAS_MAG_VEC_IDX

uint32 inertial_nav::MAG_MEAS_MAG_VEC_IDX = 0

constexpr

Sun Sensor Measurement Vector Format: [0-2] Measured sun pointing vector at sensor location expressed in the body frame (B)

◆ MAG_MEAS_SIZE

uint32 inertial_nav::MAG_MEAS_SIZE = 3

constexpr

◆ MAG_NOISE_MAG_VEC_IDX

uint32 inertial_nav::MAG_NOISE_MAG_VEC_IDX = 0

constexpr

Sun Sensor Measurement Noise Vector Format: [0-2] Measurement noise (as standard deviation) of the sun pointing vector at sensor location expressed in the sun sensor frame (SUN)

◆ MAG_NOISE_SIZE

uint32 inertial_nav::MAG_NOISE_SIZE = 3

constexpr

◆ MAG_OBSERVER_SIZE

uint32 inertial_nav::MAG_OBSERVER_SIZE = 3

constexpr

◆ PROCESS_NOISE_ACCEL_BIAS_IDX

uint32 inertial_nav::PROCESS_NOISE_ACCEL_BIAS_IDX = 13

constexpr

◆ PROCESS_NOISE_GYRO_BIAS_IDX

uint32 inertial_nav::PROCESS_NOISE_GYRO_BIAS_IDX = 10

constexpr

◆ PROCESS_NOISE_POS_IDX

uint32 inertial_nav::PROCESS_NOISE_POS_IDX = 0

constexpr

GPS Observer Vector Format: [0-3] Attitude of the GPS measurement frame (REF) with repsect to the pseudo-inertial frame (pI)

◆ PROCESS_NOISE_QUAT_IDX

uint32 inertial_nav::PROCESS_NOISE_QUAT_IDX = 6

constexpr

◆ PROCESS_NOISE_SIZE

uint32 inertial_nav::PROCESS_NOISE_SIZE = 16

constexpr

◆ PROCESS_NOISE_VEL_IDX

uint32 inertial_nav::PROCESS_NOISE_VEL_IDX = 3

constexpr

◆ PROPAGATE_ACCEL_MEAS_IDX

uint32 inertial_nav::PROPAGATE_ACCEL_MEAS_IDX = 6

constexpr

◆ PROPAGATE_GRAV_ACCEL_IDX

uint32 inertial_nav::PROPAGATE_GRAV_ACCEL_IDX = 0

constexpr

State Vector Format: [0-2] Position of body frame (B) wrt pseudo-inertial frame (pI) expressed in pI frame [3-5] Velocity of body frame (B) wrt pseudo-inertial frame (pI) expressed in pI frame [6-9] Orientation of the body frame (B) wrt pseudo-inertial frame (pI) [10-12] Gyroscope measurement bias provided as angular velocity of body frame (B) wrt pseudo-inertial (pI) frame expressed in B frame [13-15] Accelerometer measurement bias provided as acceleration of body frame (B) wrt pseudo-inertial (pI) frame expressed in B frame

◆ PROPAGATE_GYRO_MEAS_IDX

uint32 inertial_nav::PROPAGATE_GYRO_MEAS_IDX = 3

constexpr

◆ PROPAGATE_OBSERVER_SIZE

uint32 inertial_nav::PROPAGATE_OBSERVER_SIZE = 12

constexpr

◆ PROPAGATE_PI_POS_IDX

uint32 inertial_nav::PROPAGATE_PI_POS_IDX = 9

constexpr

◆ STATE_ACCEL_BIAS_IDX

uint32 inertial_nav::STATE_ACCEL_BIAS_IDX = 13

constexpr

◆ STATE_GYRO_BIAS_IDX

uint32 inertial_nav::STATE_GYRO_BIAS_IDX = 10

constexpr

◆ STATE_POS_IDX

uint32 inertial_nav::STATE_POS_IDX = 0

constexpr

◆ STATE_QUAT_IDX

uint32 inertial_nav::STATE_QUAT_IDX = 6

constexpr

◆ STATE_SIZE

uint32 inertial_nav::STATE_SIZE = 16

constexpr

◆ STATE_VEL_IDX

uint32 inertial_nav::STATE_VEL_IDX = 3

constexpr

◆ SUN_ALIGNMENT_QUAT_IDX

uint32 inertial_nav::SUN_ALIGNMENT_QUAT_IDX = 3

constexpr

◆ SUN_EXPECTED_SUN_VEC_IDX

uint32 inertial_nav::SUN_EXPECTED_SUN_VEC_IDX = 0

constexpr

Observer Vector Format (used in dynamics propagation): [0-2] Acceleration due to gravity in pI frame [3-5] Biased angular velocity (B wrt pI) in B frame [6-8] Biased acceleration (B wrt pI) in B frame [9-11] Position of pseudo-inertial frame (pI) wrt true inertial frame (tI) expressed in pI frame

◆ SUN_MEAS_SIZE

uint32 inertial_nav::SUN_MEAS_SIZE = 3

constexpr

◆ SUN_MEAS_SUN_VEC_IDX

uint32 inertial_nav::SUN_MEAS_SUN_VEC_IDX = 0

constexpr

GPS Measurement Noise Vector Format: [0-2] Measurement noise (as standard deviation) of the position of the GPS receiver with repsect to the true inertial frame resolved in the GPS measurement frame (REF)

◆ SUN_NOISE_SIZE

uint32 inertial_nav::SUN_NOISE_SIZE = 3

constexpr

◆ SUN_NOISE_SUN_VEC_IDX

uint32 inertial_nav::SUN_NOISE_SUN_VEC_IDX = 0

constexpr

Process Noise Vector Format: [0-2] Process noise (as standard deviation) of the position of body frame (B) wrt pseudo-inertial frame (pI) expressed in pI frame [3-5] Process noise (as standard deviation) of the velocity of body frame (B) wrt pseudo-inertial frame (pI) expressed in pI frame [6-9] Process noise (as standard deviation) of the orientation of the body frame (B) wrt pseudo-inertial frame (pI) [10-12] Process noise (as standard deviation) of the gyroscope measurement bias provided as angular velocity of body frame (B) wrt pseudo-inertial (pI) frame expressed in B frame [13-15] Process noise (as standard deviation) of the accelerometer measurement bias provided as acceleration of body frame (B) wrt pseudo-inertial (pI) frame expressed in B frame

◆ SUN_OBSERVER_SIZE

uint32 inertial_nav::SUN_OBSERVER_SIZE = 7

constexpr

Typedefs

Variables

Typedef Documentation

◆ CovarianceMatrix

◆ GpsMeasVector

◆ GpsObsVector

◆ MagMeasVector

◆ MagObsVector

◆ PropagateObsVector

◆ StateVector

◆ SunMeasVector

◆ SunObsVector

Variable Documentation

◆ GPS_MEAS_POS_IDX

◆ GPS_MEAS_SIZE

◆ GPS_NOISE_POS_IDX

◆ GPS_NOISE_SIZE

◆ GPS_OBSERVER_SIZE

◆ GPS_REFERENCE_FRAME_QUAT_IDX

◆ MAG_ALIGNMENT_QUAT_IDX

◆ MAG_EXPECTED_MAG_VEC_IDX

◆ MAG_MEAS_MAG_VEC_IDX

◆ MAG_MEAS_SIZE

◆ MAG_NOISE_MAG_VEC_IDX

◆ MAG_NOISE_SIZE

◆ MAG_OBSERVER_SIZE

◆ PROCESS_NOISE_ACCEL_BIAS_IDX

◆ PROCESS_NOISE_GYRO_BIAS_IDX

◆ PROCESS_NOISE_POS_IDX

◆ PROCESS_NOISE_QUAT_IDX

◆ PROCESS_NOISE_SIZE

◆ PROCESS_NOISE_VEL_IDX

◆ PROPAGATE_ACCEL_MEAS_IDX

◆ PROPAGATE_GRAV_ACCEL_IDX

◆ PROPAGATE_GYRO_MEAS_IDX

◆ PROPAGATE_OBSERVER_SIZE

◆ PROPAGATE_PI_POS_IDX

◆ STATE_ACCEL_BIAS_IDX

◆ STATE_GYRO_BIAS_IDX

◆ STATE_POS_IDX

◆ STATE_QUAT_IDX

◆ STATE_SIZE

◆ STATE_VEL_IDX

◆ SUN_ALIGNMENT_QUAT_IDX

◆ SUN_EXPECTED_SUN_VEC_IDX

◆ SUN_MEAS_SIZE

◆ SUN_MEAS_SUN_VEC_IDX

◆ SUN_NOISE_SIZE

◆ SUN_NOISE_SUN_VEC_IDX

◆ SUN_OBSERVER_SIZE