Struct LanderNavAppParams

Struct Documentation

struct LanderNavAppParams

Onboard tuning for LanderNavApp (Kalibr IMU noise densities + measurement / clock process noise). Mirrors the surface-rover tuning but adds the altimeter and crater-bearing measurement noise.

Public Members

double accel_noise_density = 3.4e-4

accel white noise [m/s^2 / sqrt(Hz)]

double accel_bias_rw = 1.0e-4

accel bias random walk [m/s^3 / sqrt(Hz)]

double gyro_noise_density = 3.4e-6

gyro white noise [rad/s / sqrt(Hz)]

double gyro_bias_rw = 1.0e-6

gyro bias random walk [rad/s^2 / sqrt(Hz)]

double pseudorange_sigma_m = 1.0

LunaNet receiver pseudorange noise 1-sigma [m].

double sise_m = 3.0

LunaNet signal-in-space error 1-sigma [m].

double altimeter_sigma_m = 2.0

radar-altimeter noise 1-sigma [m]

double crater_sigma_rad = 1.0e-3

crater-bearing noise 1-sigma [rad]

double clock_bias_process_sigma = 1.0e-11

clock-bias random walk [s / sqrt(s)]

double clock_drift_process_sigma = 1.0e-13

clock-drift random walk [s/s / sqrt(s)]