Vulcan
Aerospace Engineering Utilities Built on Janus
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vulcan::allan::IMUNoiseInput< Scalar > Struct Template Reference

Noise input structure for IMU step. More...

#include <AllanVarianceNoise.hpp>

Public Attributes

Eigen::Vector< Scalar, 3 > gyro_arw
 Gyro ARW noise (3 axes).
Eigen::Vector< Scalar, 3 > gyro_bias
 Gyro bias noise (3 axes).
Eigen::Vector< Scalar, 3 > gyro_rrw
 Gyro RRW noise (3 axes).
Eigen::Vector< Scalar, 3 > accel_arw
 Accel ARW noise (3 axes).
Eigen::Vector< Scalar, 3 > accel_bias
 Accel bias noise (3 axes).
Eigen::Vector< Scalar, 3 > accel_rrw
 Accel RRW noise (3 axes).

Detailed Description

template<typename Scalar>
struct vulcan::allan::IMUNoiseInput< Scalar >

Noise input structure for IMU step.

Contains all white noise samples needed for one time step. Each axis needs 3 independent noise samples (ARW, bias, RRW).

Template Parameters
Scalardouble or casadi::MX

Member Data Documentation

◆ accel_arw

template<typename Scalar>
Eigen::Vector<Scalar, 3> vulcan::allan::IMUNoiseInput< Scalar >::accel_arw

Accel ARW noise (3 axes).

◆ accel_bias

template<typename Scalar>
Eigen::Vector<Scalar, 3> vulcan::allan::IMUNoiseInput< Scalar >::accel_bias

Accel bias noise (3 axes).

◆ accel_rrw

template<typename Scalar>
Eigen::Vector<Scalar, 3> vulcan::allan::IMUNoiseInput< Scalar >::accel_rrw

Accel RRW noise (3 axes).

◆ gyro_arw

template<typename Scalar>
Eigen::Vector<Scalar, 3> vulcan::allan::IMUNoiseInput< Scalar >::gyro_arw

Gyro ARW noise (3 axes).

◆ gyro_bias

template<typename Scalar>
Eigen::Vector<Scalar, 3> vulcan::allan::IMUNoiseInput< Scalar >::gyro_bias

Gyro bias noise (3 axes).

◆ gyro_rrw

template<typename Scalar>
Eigen::Vector<Scalar, 3> vulcan::allan::IMUNoiseInput< Scalar >::gyro_rrw

Gyro RRW noise (3 axes).

The documentation for this struct was generated from the following file: