vulcan::sensors::imu_grades Namespace Reference

Functions
AllanParams< double >	consumer_gyro ()
	Consumer-grade MEMS gyroscope (smartphone-level).
AllanParams< double >	consumer_accel ()
	Consumer-grade MEMS accelerometer (smartphone-level).
AllanParams< double >	industrial_gyro ()
	Industrial-grade MEMS gyroscope.
AllanParams< double >	industrial_accel ()
	Industrial-grade MEMS accelerometer.
AllanParams< double >	tactical_gyro ()
	Tactical-grade IMU gyroscope.
AllanParams< double >	tactical_accel ()
	Tactical-grade IMU accelerometer.
AllanParams< double >	navigation_gyro ()
	Navigation-grade IMU gyroscope.
AllanParams< double >	navigation_accel ()
	Navigation-grade IMU accelerometer.

Function Documentation

consumer_accel()

AllanParams< double > vulcan::sensors::imu_grades::consumer_accel ( )

inline

Consumer-grade MEMS accelerometer (smartphone-level).

consumer_gyro()

AllanParams< double > vulcan::sensors::imu_grades::consumer_gyro ( )

inline

Consumer-grade MEMS gyroscope (smartphone-level).

Typical values:

• ARW: 0.3 deg/√hr ≈ 8.7e-5 rad/s/√Hz
• Bias instability: 10 deg/hr ≈ 4.8e-5 rad/s
• Rate random walk: 0.5 deg/hr/√hr ≈ 4.0e-8 rad/s²/√Hz
• τ_bias: ~100s

industrial_accel()

AllanParams< double > vulcan::sensors::imu_grades::industrial_accel ( )

inline

Industrial-grade MEMS accelerometer.

industrial_gyro()

AllanParams< double > vulcan::sensors::imu_grades::industrial_gyro ( )

inline

Industrial-grade MEMS gyroscope.

Typical values:

• ARW: 0.1 deg/√hr ≈ 2.9e-5 rad/s/√Hz
• Bias instability: 1 deg/hr ≈ 4.8e-6 rad/s

navigation_accel()

AllanParams< double > vulcan::sensors::imu_grades::navigation_accel ( )

inline

Navigation-grade IMU accelerometer.

navigation_gyro()

AllanParams< double > vulcan::sensors::imu_grades::navigation_gyro ( )

inline

Navigation-grade IMU gyroscope.

High-performance fiber optic or ring laser gyros:

• ARW: 0.001 deg/√hr ≈ 2.9e-7 rad/s/√Hz
• Bias instability: 0.01 deg/hr ≈ 4.8e-8 rad/s

tactical_accel()

AllanParams< double > vulcan::sensors::imu_grades::tactical_accel ( )

inline

Tactical-grade IMU accelerometer.

tactical_gyro()

AllanParams< double > vulcan::sensors::imu_grades::tactical_gyro ( )

inline

Tactical-grade IMU gyroscope.

Typical values:

• ARW: 0.01 deg/√hr ≈ 2.9e-6 rad/s/√Hz
• Bias instability: 0.1 deg/hr ≈ 4.8e-7 rad/s