function

Estimation.StrapdownINS.ESKF.noiseInputMatrix

Map continuous IMU and bias noise into the tangent

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
output	`G`	`Real`	`[TangentLength, ProcessNoiseLength]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function noiseInputMatrix "Map continuous IMU and bias noise into the tangent"
  output Real G[TangentLength, ProcessNoiseLength];
algorithm
  G := cat(1,
    zeros(3, ProcessNoiseLength),
    cat(2, zeros(3, 3), -identity(3), zeros(3, 6)),
    cat(2, -identity(3), zeros(3, 9)),
    cat(2, zeros(3, 6), identity(3), zeros(3, 3)),
    cat(2, zeros(3, 9), identity(3)));
end noiseInputMatrix;