vulcan::sensors::AllanParams< Scalar > Struct Template Reference

Allan variance noise parameters for IMU sensors. More...

#include <NoiseTypes.hpp>

Public Attributes
Scalar	N
	Angle/velocity random walk [rad/s/√Hz] or [m/s²/√Hz].
Scalar	B
	Bias instability [rad/s] or [m/s²].
Scalar	K
	Rate random walk [rad/s²/√Hz] or [m/s³/√Hz].
Scalar	tau_bias
	Bias instability correlation time [s].

Detailed Description

template<typename Scalar>
struct vulcan::sensors::AllanParams< Scalar >

Allan variance noise parameters for IMU sensors.

These parameters characterize the noise floor of inertial sensors as identified from Allan variance analysis:

• N: Angle/Velocity Random Walk (slope -1/2 on Allan deviation plot)
• B: Bias Instability (slope 0, the flat region minimum)
• K: Rate Random Walk (slope +1/2)
• tau_bias: Correlation time for bias instability process

Template Parameters

Scalar

double or casadi::MX

Member Data Documentation

B

template<typename Scalar>

Scalar vulcan::sensors::AllanParams< Scalar >::B

Bias instability [rad/s] or [m/s²].

K

template<typename Scalar>

Scalar vulcan::sensors::AllanParams< Scalar >::K

Rate random walk [rad/s²/√Hz] or [m/s³/√Hz].

N

template<typename Scalar>

Scalar vulcan::sensors::AllanParams< Scalar >::N

Angle/velocity random walk [rad/s/√Hz] or [m/s²/√Hz].

tau_bias

template<typename Scalar>

Scalar vulcan::sensors::AllanParams< Scalar >::tau_bias

Bias instability correlation time [s].

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

• include/vulcan/sensors/NoiseTypes.hpp