Struct inertialsim::sensors::INSData¶

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INS simulation results.More...

#include <ins.h>

Public Attributes¶

Type	Name
Measurement	attitude Attitude (orientation) measurements.
Measurement	position Position measurements.
Measurement	velocity Velocity measurements.

Public Functions¶

Type	Name
	INSData (const Measurement & attitude, const Measurement & position, const Measurement & velocity) Construct INSData from measurements.

Detailed Description¶

Contains the simulated INS measurements: attitude, position, and velocity. The coordinate systems are inherited from the initial conditions supplied in the Initialize() method.

For further details regarding coordinates and conventions see the geometry and geodesy modules.

Public Attributes Documentation¶

variable attitude¶

Attitude (orientation) measurements.

Measurement inertialsim::sensors::INSData::attitude;

The attitude of the INS relative to the navigation frame. The format will be one of Euler angles, quaternion, or rotation matrix as specified in the attitude format field of the INSModel.

variable position¶

Position measurements.

Measurement inertialsim::sensors::INSData::position;

The position of the INS in navigation frame coordinates. For Cartesian coordinate frames (ECEF, topocentric, or local) this will be x, y, z data in meters. For geodetic coordinates this will be latitude, longitude, altitude in radians and meters respectively.

variable velocity¶

Velocity measurements.

Measurement inertialsim::sensors::INSData::velocity;

The velocity of the INS in navigation frame coordinates. For Cartesian coordinate frames (ECEF, topocentric, or local) this will be x, y, z data in meters per second. For geodetic coordinates this will be velocity in the local North, East, Down (NED) basis in meters per second.

Public Functions Documentation¶

function INSData¶

Construct INSData from measurements.

inline inertialsim::sensors::INSData::INSData (
    const  Measurement & attitude,
    const  Measurement & position,
    const  Measurement & velocity
)

Parameters:

att Attitude measurement.
pos Position measurement.
vel Velocity measurement.

The documentation for this class was generated from the following file cpp/include/inertialsim/sensors/ins.h