gtsam::AHRS Class Reference

#include <AHRS.h>

Public Types
typedef Eigen::Matrix< double, 3, Eigen::Dynamic >	Vector3s

Public Member Functions
	AHRS (const Matrix &stationaryU, const Matrix &stationaryF, double g_e, bool flat=false)
std::pair< Mechanization_bRn2, KalmanFilter::State >	aid (const Mechanization_bRn2 &mech, KalmanFilter::State state, const Vector &f, bool Farrell=0) const
std::pair< Mechanization_bRn2, KalmanFilter::State >	aidGeneral (const Mechanization_bRn2 &mech, KalmanFilter::State state, const Vector &f, const Vector &f_expected, const Rot3 &R_previous) const
std::pair< Mechanization_bRn2, KalmanFilter::State >	initialize (double g_e)
std::pair< Mechanization_bRn2, KalmanFilter::State >	integrate (const Mechanization_bRn2 &mech, KalmanFilter::State state, const Vector &u, double dt)
bool	isAidingAvailable (const Mechanization_bRn2 &mech, const Vector &f, const Vector &u, double ge) const
void	print (const std::string &s="") const
	print More...
virtual	~AHRS ()

Static Public Member Functions
static Matrix3	Cov (const Vector3s &m)

Private Types
typedef Eigen::Matrix< double, 12, 1 >	Variances

Private Attributes
Matrix3	F_a_
	acc bias dynamics More...
Matrix3	F_g_
	gyro bias dynamics More...
KalmanFilter	KF_
	initial Kalman filter More...
Mechanization_bRn2	mech0_
	Initial mechanization state. More...
Vector3	n_g_
	gravity in nav frame More...
Matrix3	n_g_cross_
	and its skew-symmetric matrix More...
Matrix3	Pa_
Matrix3	Pg_
Vector3	sigmas_v_a_
	measurement sigma More...
Variances	var_w_
	dynamic noise variances More...

Detailed Description

Definition at line 17 of file AHRS.h.

Member Typedef Documentation

typedef Eigen::Matrix<double,12,1> gtsam::AHRS::Variances

private

Definition at line 29 of file AHRS.h.

typedef Eigen::Matrix<double,3,Eigen::Dynamic> gtsam::AHRS::Vector3s

Definition at line 41 of file AHRS.h.

Constructor & Destructor Documentation

gtsam::AHRS::AHRS	(	const Matrix &	stationaryU,
		const Matrix &	stationaryF,
		double	g_e,
		bool	flat = false
	)

AHRS constructor

Parameters

stationaryU	initial interval of gyro measurements, 3xn matrix
stationaryF	initial interval of accelerator measurements, 3xn matrix
g_e	if given, initializes gravity with correct value g_e

Definition at line 24 of file AHRS.cpp.

gtsam::AHRS::~AHRS ( )

virtual

Definition at line 252 of file AHRS.cpp.

Member Function Documentation

std::pair< Mechanization_bRn2, KalmanFilter::State > gtsam::AHRS::aid	(	const Mechanization_bRn2 &	mech,
		KalmanFilter::State	state,
		const Vector &	f,
		bool	Farrell = 0
	)		const

Aid the AHRS with an accelerometer reading, typically called when isAidingAvailable == true

Parameters

mech	current mechanization state
state	current Kalman filter state
f	accelerometer reading
Farrell

Definition at line 159 of file AHRS.cpp.

std::pair< Mechanization_bRn2, KalmanFilter::State > gtsam::AHRS::aidGeneral	(	const Mechanization_bRn2 &	mech,
		KalmanFilter::State	state,
		const Vector &	f,
		const Vector &	f_expected,
		const Rot3 &	R_previous
	)		const

Definition at line 206 of file AHRS.cpp.

Matrix3 gtsam::AHRS::Cov ( const Vector3s &  m )

static

Definition at line 16 of file AHRS.cpp.

std::pair< Mechanization_bRn2, KalmanFilter::State > gtsam::AHRS::initialize

(

double

g_e

)

Definition at line 63 of file AHRS.cpp.

std::pair< Mechanization_bRn2, KalmanFilter::State > gtsam::AHRS::integrate	(	const Mechanization_bRn2 &	mech,
		KalmanFilter::State	state,
		const Vector &	u,
		double	dt
	)

Definition at line 110 of file AHRS.cpp.

bool gtsam::AHRS::isAidingAvailable	(	const Mechanization_bRn2 &	mech,
		const Vector &	f,
		const Vector &	u,
		double	ge
	)		const

Definition at line 146 of file AHRS.cpp.

void gtsam::AHRS::print

(

const std::string &

s = ""

)

const

print

Definition at line 236 of file AHRS.cpp.

Member Data Documentation

Matrix3 gtsam::AHRS::F_a_

private

acc bias dynamics

Definition at line 27 of file AHRS.h.

Matrix3 gtsam::AHRS::F_g_

private

gyro bias dynamics

Definition at line 26 of file AHRS.h.

KalmanFilter gtsam::AHRS::KF_

private

initial Kalman filter

Definition at line 23 of file AHRS.h.

Mechanization_bRn2 gtsam::AHRS::mech0_

private

Initial mechanization state.

Definition at line 22 of file AHRS.h.

Vector3 gtsam::AHRS::n_g_

private

gravity in nav frame

Definition at line 34 of file AHRS.h.

Matrix3 gtsam::AHRS::n_g_cross_

private

and its skew-symmetric matrix

Definition at line 35 of file AHRS.h.

Matrix3 gtsam::AHRS::Pa_

private

Definition at line 37 of file AHRS.h.

Matrix3 gtsam::AHRS::Pg_

private

Definition at line 37 of file AHRS.h.

Vector3 gtsam::AHRS::sigmas_v_a_

private

measurement sigma

Definition at line 33 of file AHRS.h.

Variances gtsam::AHRS::var_w_

private

dynamic noise variances

Definition at line 30 of file AHRS.h.

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The documentation for this class was generated from the following files:

• AHRS.h
• AHRS.cpp