function

Estimation.StrapdownINS.ESKF.processNoiseMatrix

Assemble the full continuous process covariance

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`noise`	`Estimation.StrapdownINS.ProcessNoise`
output	`covariance`	`Estimation.StrapdownINS.ProcessNoiseCovariance`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function processNoiseMatrix "Assemble the full continuous process covariance"
  input Estimation.StrapdownINS.ProcessNoise noise;
  output Estimation.StrapdownINS.ProcessNoiseCovariance covariance;
algorithm
  covariance := cat(1,
    cat(2, noise.gyroscope_rad2_s, zeros(3, 9)),
    cat(2, zeros(3, 3), noise.accelerometer_m2_s3, zeros(3, 6)),
    cat(2, zeros(3, 6), noise.gyroscopeBias_rad2_s3, zeros(3, 3)),
    cat(2, zeros(3, 9), noise.accelerometerBias_m2_s5));
end processNoiseMatrix;