package

Estimation

Aided inertial filters and delayed fusion

StrapdownINS provides aided inertial filters. FusionHorizon provides reusable delayed delivery and current-time prediction around those filters. Both use the physical sensor and navigation contracts in Avionics.

Members

Name	Kind	Description
ComplementaryAttitude	block	Quaternion attitude estimate corrected by gravity
StrapdownINS	package	Estimators for strapdown inertial navigation with external aiding
FusionHorizon	package	Estimator-agnostic delayed fusion horizon and SE_2(3) output predictor
MocapExternalOdometryErrorState	package	Mocap-aided external-odometry error-state Kalman filter
PositionEstimator	model	Fixed-gain GPS/mocap position estimator with inertial propagation

Modelica declarations and implementation

Show parameters, interfaces and source

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

package Estimation "Aided inertial filters and delayed fusion"
  annotation(uses(Avionics, LieGroups, LinearAlgebra, MathUtilities),
    Documentation(info = "<html>
    <p><a href=\"modelica://Estimation.StrapdownINS\">StrapdownINS</a>
    provides aided inertial filters.
    <a href=\"modelica://Estimation.FusionHorizon\">FusionHorizon</a>
    provides reusable delayed delivery and current-time prediction around
    those filters. Both use the physical sensor and navigation contracts in
    <a href=\"modelica://Avionics\">Avionics</a>.</p>
    </html>"));
end Estimation;