Package com.irurueta.navigation.inertial
package com.irurueta.navigation.inertial
Contains inertial entities.
This is the base package for all classes related to inertial navigation.
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ClassDescriptionDescribes the motion of a body based on the specific forces (i.e. specific acceleration) and angular rates applied to it.Contains body kinematics describing the forces and angular rate applied to a body, along with the sensed magnetic flux density resolved around body coordinates.Contains magnetic flux density resolved around body coordinates.Contains build data of this library.Contains acceleration due to gravity resolved about ECEF frame.Contains acceleration due to gravity resolved about ECI frame.GravityOrGravitation<T extends GravityOrGravitation<?>>Contains acceleration due to gravity resolved about ECEF or ECI frame, depending on the implementation.Base exception for all inertial related exceptions.Exception related to INS estimation when attempting to estimate position, velocity and attitude using inertial data.Exception related to INS/GNSS estimation when attempting to estimate position, velocity and attitude using both satellite and inertial data.Calculates position, velocity, attitude and IMU biases using a GNSS unweighted iterated least squares estimator along with an INS loosely coupled Kalman filter to take into account inertial measurements to smooth results.Listener defining events of INSGNSSLooselyCoupledKalmanFilteredEstimator.Calculates position, velocity, attitude, clock offset, clock drift and IMU biases using a GNSS unweighted iterated least squares estimator along with an INS tightly coupled Kalman filter to take into account inertial measurements to smooth results.Listener defining events of INSGNSSTightlyCoupledKalmanFilteredEstimatorListener.Contains configuration parameters (usually obtained through calibration) for INS/GNSS Loosely Coupled Kalman filter.Implements one cycle of the loosely coupled INS/GNSS Kalman filter plus closed-loop correction of all inertial states.Calculates position, velocity, attitude and IMU biases using an INS loosely coupled Kalman filter to take into account inertial measurements to smooth results and taking into account an initial position.Listener defining events of INSLooselyCoupledKalmanFilteredEstimator.Initializes the loosely coupled INS/GNSS Kalman filter error covariance matrix.Contains configuration parameters to determine the system noise covariance matrix when initializing INS/GNS Loosely Coupled Kalman filter.Kalman filter state for loosely coupled INS/GNSS extended kalman filter.Contains configuration parameters (usually obtained through calibration) for INS/GNSS Loosely Coupled Kalman filter.Implements one cycle of the tightly coupled INS/GNSS Kalman filter plus closed-loop correction of all inertial states.Initializes the tightly coupled INS/GNSS extended Kalman filter error covariance matrix.Contains INS/GNS Tightly Coupled Kalman filter configuration parameters (usually obtained through calibration) to determine the system noise covariance matrix.Kalman filter state for tightly coupled INS/GNSS extended Kalman filter.Contains acceleration due to gravity resolved about NED frame.Contains radii of curvature of the WGS84 ellipsoid at a given latitude.