package
SLAM.Inertial
Inertial propagation and Schmidt relative-pose correction
Visual-inertial reference
This package contains the world-additive ES15 and retained-reference Schmidt operations used by the visual pipeline. ModelicaInertial is the nominal inertial model; SchmidtCaptureReference and SchmidtCorrectRelativePose manage the retained reference and relative observations.
The navigation ESKF under Estimation.StrapdownINS.ESKF uses a different tangent/injection convention. Do not copy a covariance between these filters as if its coordinate ordering and frame were interchangeable. Retaining a reference requires its uncertainty and cross-correlation with the current state, not just its saved pose.
Members
| Name | Kind | Description |
|---|---|---|
| ES15CorrectionSolve | model | |
| ES15CovariancePrediction | model | |
| ES15CovarianceStep | function | |
| ES15Dynamics | model | |
| ES15HeldIntervalValid | function | |
| ES15NominalPrediction | model | |
| ES15PoseCorrection | model | |
| ES15PredictHeldInterval | function | |
| ES15SchmidtPrediction | model | |
| ES15SchmidtReferenceStep | model | |
| ES15TransitionNoise | function | |
| ModelicaInertial | model | |
| SLAMCovariancePSD | model | |
| SLAMCovariancePSDCheck | function | |
| SLAMExactRealEqual | function | |
| SLAMRotationCoordinates | function | |
| SLAMRotationLog | model | |
| SchmidtCaptureReference | function | |
| SchmidtCorrectRelativePose | function | |
| SchmidtCorrectionSolve | function | |
| SchmidtGraphPoseCorrection | package | |
| SchmidtImagePairEligibility | function | |
| SchmidtImagePairGate | model | |
| SchmidtPredictCovariance | function | |
| SchmidtReferenceCapture | model | |
| SchmidtReferencePrediction | model | |
| SchmidtRelativePoseCorrection | model |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package Inertial
"Inertial propagation and Schmidt relative-pose correction"
annotation(Documentation(info = "<html>
<h4>Visual-inertial reference</h4>
<p>This package contains the world-additive ES15 and retained-reference Schmidt
operations used by the visual pipeline.
<a href=\"modelica://SLAM.Inertial.ModelicaInertial\">ModelicaInertial</a>
is the nominal inertial model;
<a href=\"modelica://SLAM.Inertial.SchmidtCaptureReference\">SchmidtCaptureReference</a>
and <a href=\"modelica://SLAM.Inertial.SchmidtCorrectRelativePose\">SchmidtCorrectRelativePose</a>
manage the retained reference and relative observations.</p>
<p>The navigation ESKF under
<a href=\"modelica://Estimation.StrapdownINS.ESKF\">Estimation.StrapdownINS.ESKF</a>
uses a different tangent/injection convention. Do not copy a covariance between
these filters as if its coordinate ordering and frame were interchangeable.
Retaining a reference requires its uncertainty and cross-correlation with the
current state, not just its saved pose.</p>
</html>"));
end Inertial;