Function lupnt::ProcessNoisePosVel¶

Defined in File filter_utils.cc

Function Documentation¶

MatXd lupnt::ProcessNoisePosVel(const MatXd &Q_a, Real dt)¶

Build the position/velocity process-noise covariance block for a piecewise-constant white-acceleration model, from the per-axis acceleration noise Q_a and ProcessNoisePosVelCoeffs(dt).

Called by ProcessNoise::ComputeProcessNoise (SNC/ASNC algorithms) and ProcessNoisePosVelClock to form the [r, v] block of the EKF/UKF process-noise matrix Q passed to Filter::SetProcessNoiseFunction.

Parameters:

Q_a – Per-axis acceleration noise: either a diagonal vector or a full matrix, size [n] or [n x n]
dt – Time step [s]

Returns:

Position/velocity process noise covariance, size [2n x 2n]