Classes
struct	AxisState
	Combined noise state for a single sensor axis. More...
struct	AxisCoeffs
	Pre-computed coefficients for single axis. More...
struct	IMUNoiseState
	Complete 3-axis IMU noise state. More...
struct	IMUNoiseCoeffs
	Complete IMU noise coefficients. More...
struct	IMUNoiseInput
	Noise input structure for IMU step. More...

Functions
template<typename Scalar>
AxisState< Scalar >	init_axis_state ()
	Initialize per-axis state to zero.
AxisCoeffs	compute_axis_coeffs (const sensors::AllanParams< double > &params, double dt)
	Compute per-axis coefficients from Allan parameters.
template<typename Scalar>
Scalar	step_axis (AxisState< Scalar > &state, const AxisCoeffs &coeffs, const Scalar &noise_arw, const Scalar &noise_bias, const Scalar &noise_rrw)
	Step single-axis noise model.
template<typename Scalar>
IMUNoiseState< Scalar >	init_state ()
	Initialize IMU noise state.
IMUNoiseCoeffs	compute_coeffs (const sensors::AllanParams< double > &gyro_params, const sensors::AllanParams< double > &accel_params, double dt)
	Compute IMU coefficients from Allan parameters.
template<typename Scalar>
sensors::IMUNoiseSample< Scalar >	step (IMUNoiseState< Scalar > &state, const IMUNoiseCoeffs &coeffs, const IMUNoiseInput< Scalar > &input)
	Step the complete IMU noise model.
template<typename Scalar>
sensors::IMUNoiseSample< Scalar >	step_simple (IMUNoiseState< Scalar > &state, const IMUNoiseCoeffs &coeffs, const Eigen::Vector< Scalar, 3 > &gyro_noise, const Eigen::Vector< Scalar, 3 > &accel_noise)
	Simplified step with single noise vector per sensor.
IMUNoiseCoeffs	consumer_grade_coeffs (double dt)
	Compute coefficients for consumer-grade IMU.
IMUNoiseCoeffs	industrial_grade_coeffs (double dt)
	Compute coefficients for industrial-grade IMU.
IMUNoiseCoeffs	tactical_grade_coeffs (double dt)
	Compute coefficients for tactical-grade IMU.
IMUNoiseCoeffs	navigation_grade_coeffs (double dt)
	Compute coefficients for navigation-grade IMU.

Function Documentation

◆ compute_axis_coeffs()

AxisCoeffs vulcan::allan::compute_axis_coeffs	(	const sensors::AllanParams< double > &	params,
		double	dt )

inline

Compute per-axis coefficients from Allan parameters.

Parameters

params	Allan variance parameters for this axis
dt	Time step [s]

Returns: AxisCoeffs ready for simulation

◆ compute_coeffs()

IMUNoiseCoeffs vulcan::allan::compute_coeffs	(	const sensors::AllanParams< double > &	gyro_params,
		const sensors::AllanParams< double > &	accel_params,
		double	dt )

inline

Compute IMU coefficients from Allan parameters.

Parameters

gyro_params	Allan variance parameters for gyroscope
accel_params	Allan variance parameters for accelerometer
dt	Time step [s]

Returns: IMUNoiseCoeffs ready for simulation

◆ consumer_grade_coeffs()

IMUNoiseCoeffs vulcan::allan::consumer_grade_coeffs ( double dt )

inline

Compute coefficients for consumer-grade IMU.

Parameters

dt	Time step [s]

Returns: IMUNoiseCoeffs for consumer-grade sensors

◆ industrial_grade_coeffs()

IMUNoiseCoeffs vulcan::allan::industrial_grade_coeffs ( double dt )

inline

Compute coefficients for industrial-grade IMU.

Parameters

dt	Time step [s]

Returns: IMUNoiseCoeffs for industrial-grade sensors

◆ init_axis_state()

template<typename Scalar>

AxisState< Scalar > vulcan::allan::init_axis_state ( )

Initialize per-axis state to zero.

Template Parameters

Scalar double or casadi::MX

Returns: AxisState with all zeros

◆ init_state()

template<typename Scalar>

IMUNoiseState< Scalar > vulcan::allan::init_state ( )

Initialize IMU noise state.

Template Parameters

Scalar double or casadi::MX

Returns: IMUNoiseState with all zeros

◆ navigation_grade_coeffs()

IMUNoiseCoeffs vulcan::allan::navigation_grade_coeffs ( double dt )

inline

Compute coefficients for navigation-grade IMU.

Parameters

dt	Time step [s]

Returns: IMUNoiseCoeffs for navigation-grade sensors

◆ step()

template<typename Scalar>

sensors::IMUNoiseSample< Scalar > vulcan::allan::step	(	IMUNoiseState< Scalar > &	state,
		const IMUNoiseCoeffs &	coeffs,
		const IMUNoiseInput< Scalar > &	input )

Step the complete IMU noise model.

Updates all internal states and returns noise to add to ideal outputs.

Template Parameters

Scalar double or casadi::MX

Parameters

state	Current IMU noise state (updated in-place)
coeffs	Pre-computed coefficients
input	White noise samples for all processes

Returns: IMUNoiseSample with gyro and accel noise vectors

◆ step_axis()

template<typename Scalar>

Scalar vulcan::allan::step_axis	(	AxisState< Scalar > &	state,
		const AxisCoeffs &	coeffs,
		const Scalar &	noise_arw,
		const Scalar &	noise_bias,
		const Scalar &	noise_rrw )

Step single-axis noise model.

Computes total noise as sum of:

White noise (ARW): σ_arw * w1
Bias instability: Markov process driven by w2
Rate random walk: integrated w3

Uses 3 independent white noise inputs for the 3 processes.

Template Parameters

Scalar double or casadi::MX

Parameters

state	Current axis state (updated in-place)
coeffs	Pre-computed axis coefficients
noise_arw	White noise sample for ARW
noise_bias	White noise sample for bias instability
noise_rrw	White noise sample for rate random walk

Returns: Total noise output for this axis

◆ step_simple()

template<typename Scalar>

sensors::IMUNoiseSample< Scalar > vulcan::allan::step_simple	(	IMUNoiseState< Scalar > &	state,
		const IMUNoiseCoeffs &	coeffs,
		const Eigen::Vector< Scalar, 3 > &	gyro_noise,
		const Eigen::Vector< Scalar, 3 > &	accel_noise )

Simplified step with single noise vector per sensor.

Convenience function that uses same noise for ARW and splits noise between bias and RRW processes (for simpler usage when full 18-sample input is not needed).

Template Parameters

Scalar double or casadi::MX

Parameters

state	Current IMU noise state (updated in-place)
coeffs	Pre-computed coefficients
gyro_noise	3-element white noise for gyroscopes
accel_noise	3-element white noise for accelerometers

Returns: IMUNoiseSample with gyro and accel noise vectors

◆ tactical_grade_coeffs()

IMUNoiseCoeffs vulcan::allan::tactical_grade_coeffs ( double dt )

inline

Compute coefficients for tactical-grade IMU.

Parameters

dt	Time step [s]

Returns: IMUNoiseCoeffs for tactical-grade sensors

Classes

Functions

Function Documentation

◆ compute_axis_coeffs()

◆ compute_coeffs()

◆ consumer_grade_coeffs()

◆ industrial_grade_coeffs()

◆ init_axis_state()

◆ init_state()

◆ navigation_grade_coeffs()

◆ step()

◆ step_axis()

◆ step_simple()

◆ tactical_grade_coeffs()