record

Estimation.FusionHorizon.Delta

One SE_2(3) preintegral right factor with its bias sensitivities

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
field	`deltaPositionBodyFlu_m`	`Real`	`[3](each unit = "m")`	Closed-form position increment in the body frame at the span start
field	`deltaVelocityBodyFlu_m_s`	`Real`	`[3](each unit = "m/s")`	Sculling-corrected velocity increment in the body frame at the span start
field	`deltaQuaternionBodyFlu`	`Real`	`[4](each unit = "1")`	Scalar-first relative rotation from the span-start to the span-end body frame
field	`integrationTime_s`	`Real`	`(unit = "s")`	Span covered by this right factor
field	`deltaRotationGyroscopeBiasJacobian_s`	`Real`	`[3, 3](each unit = "s")`
field	`deltaVelocityGyroscopeBiasJacobian_m`	`Real`	`[3, 3](each unit = "m")`
field	`deltaVelocityAccelerometerBiasJacobian_s`	`Real`	`[3, 3](each unit = "s")`
field	`deltaPositionGyroscopeBiasJacobian_m_s`	`Real`	`[3, 3](each unit = "m.s")`
field	`deltaPositionAccelerometerBiasJacobian_s2`	`Real`	`[3, 3](each unit = "s2")`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

record Delta
  "One SE_2(3) preintegral right factor with its bias sensitivities"
  Real deltaPositionBodyFlu_m[3](each unit = "m")
    "Closed-form position increment in the body frame at the span start";
  Real deltaVelocityBodyFlu_m_s[3](each unit = "m/s")
    "Sculling-corrected velocity increment in the body frame at the span start";
  Real deltaQuaternionBodyFlu[4](each unit = "1")
    "Scalar-first relative rotation from the span-start to the span-end body frame";
  Real integrationTime_s(unit = "s") "Span covered by this right factor";
  Real deltaRotationGyroscopeBiasJacobian_s[3, 3](each unit = "s");
  Real deltaVelocityGyroscopeBiasJacobian_m[3, 3](each unit = "m");
  Real deltaVelocityAccelerometerBiasJacobian_s[3, 3](each unit = "s");
  Real deltaPositionGyroscopeBiasJacobian_m_s[3, 3](each unit = "m.s");
  Real deltaPositionAccelerometerBiasJacobian_s2[3, 3](each unit = "s2");
end Delta;