record

Estimation.StrapdownINS.ProcessNoise

Continuous-time process-noise spectral-density matrices

Continuous noise specification

Each 3 by 3 matrix is a continuous-time covariance spectral density, not a sample variance or a standard deviation. Gyroscope, accelerometer and their bias random walks have different physical units, stated in the field names.

For an independent axis with amplitude density n, enter n squared on the corresponding diagonal. Prediction performs the time integration; do not multiply by the filter interval again when constructing this record. Off-diagonal entries represent declared cross-axis correlations and must form a valid covariance. Initial state uncertainty is configured separately through InitialVariances.

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
field	`gyroscope_rad2_s`	`Real`	`[3, 3]`
field	`accelerometer_m2_s3`	`Real`	`[3, 3]`
field	`gyroscopeBias_rad2_s3`	`Real`	`[3, 3]`
field	`accelerometerBias_m2_s5`	`Real`	`[3, 3]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

record ProcessNoise "Continuous-time process-noise spectral-density matrices"
  Real gyroscope_rad2_s[3, 3];
  Real accelerometer_m2_s3[3, 3];
  Real gyroscopeBias_rad2_s3[3, 3];
  Real accelerometerBias_m2_s5[3, 3];
  annotation(Documentation(info = "<html>
    <h4>Continuous noise specification</h4>
<p>Each 3 by 3 matrix is a continuous-time covariance spectral density, not a
sample variance or a standard deviation. Gyroscope, accelerometer and their
bias random walks have different physical units, stated in the field names.</p>
<p>For an independent axis with amplitude density n, enter n squared on the
corresponding diagonal. Prediction performs the time integration; do not
multiply by the filter interval again when constructing this record. Off-diagonal
entries represent declared cross-axis correlations and must form a valid
covariance. Initial state uncertainty is configured separately through
<a href=\"modelica://Estimation.StrapdownINS.InitialVariances\">InitialVariances</a>.</p>
    </html>"));
end ProcessNoise;