Package com.irurueta.navigation.inertial

Class INSTightlyCoupledKalmanInitializer

java.lang.Object

com.irurueta.navigation.inertial.INSTightlyCoupledKalmanInitializer

public class INSTightlyCoupledKalmanInitializer
extends Object

Initializes the tightly coupled INS/GNSS extended Kalman filter error covariance matrix. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/Initialize_TC_P_matrix.m

Field Summary

Fields

Modifier and Type	Field	Description
static final int	NUM_PARAMS	Number of parameters of the Kalman filter.

Constructor Summary

Constructors

Modifier	Constructor	Description
private	INSTightlyCoupledKalmanInitializer()	Constructor.

Method Summary

Modifier and Type	Method	Description
static com.irurueta.algebra.Matrix	initialize(INSTightlyCoupledKalmanInitializerConfig config)	Initializes INS/GNS tightly coupled Kalman filter error covariance matrix.
static void	initialize(INSTightlyCoupledKalmanInitializerConfig config, com.irurueta.algebra.Matrix result)	Initializes INS/GNS tightly coupled Kalman filter error covariance matrix.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

NUM_PARAMS

public static final int NUM_PARAMS

Number of parameters of the Kalman filter.

See Also:

• Constant Field Values

Constructor Details

INSTightlyCoupledKalmanInitializer

private INSTightlyCoupledKalmanInitializer()

Constructor. Prevents instantiation of helper class.

Method Details

initialize

public static void initialize(INSTightlyCoupledKalmanInitializerConfig config,
 com.irurueta.algebra.Matrix result)

Initializes INS/GNS tightly coupled Kalman filter error covariance matrix.

Parameters:

config - Kalman filter configuration.

result - instance where resulting initialized error covariance matrix will be stored. Matrix must be 17x17, otherwise it will be resized.

initialize

public static com.irurueta.algebra.Matrix initialize(INSTightlyCoupledKalmanInitializerConfig config)

Initializes INS/GNS tightly coupled Kalman filter error covariance matrix.

Parameters:

config - Kalman filter configuration.

Returns:

initialized error covariance matrix.