model

Vehicles.Rdd2.Test.UkfGlobalWaypointMission

GPS waypoint mission using the StrapdownINS manifold UKF

Base classes

Vehicles.Rdd2.WaypointVehicleSystem

Follow base classes for inherited declarations; this page lists explicit declarations only.

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
parameter	`cruiseAltitude_m`	`Real`	`= 2.0`
parameter	`boxSide_m`	`Real`	`= 4.0`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model UkfGlobalWaypointMission
  "GPS waypoint mission using the StrapdownINS manifold UKF"
  parameter Real cruiseAltitude_m = 2.0;
  parameter Real boxSide_m = 4.0;
  extends Vehicles.Rdd2.WaypointVehicleSystem(
    redeclare block EstimatorModel = Estimation.StrapdownINS.UKF.Estimator,
    useGlobalWaypoints=true,
    navigationSource=1,
    estimatorInitialPositionWorldEnu_m={0.08, -0.06, 0.04},
    localRoute=[
      0.0,       0.0,       0.0;
      0.0,       0.0,       cruiseAltitude_m;
      boxSide_m, 0.0,       cruiseAltitude_m;
      boxSide_m, boxSide_m, cruiseAltitude_m;
      0.0,       boxSide_m, cruiseAltitude_m;
      0.0,       0.0,       cruiseAltitude_m;
      0.0,       0.0,       0.3;
      0.0,       0.0,       0.1]);
  annotation(experiment(StartTime=0.0, StopTime=45.0,
    Tolerance=1.0e-8, Interval=0.005));
end UkfGlobalWaypointMission;