Struct LanderNavConfig¶

Defined in File lander_nav_app.h

Struct Documentation¶

struct LanderNavConfig¶

Scenario configuration for the lunar-lander navigation application: a lander on powered descent to a south-pole site, fusing a full IMU (Kalibr), a nadir radar altimeter, crater-landmark bearings (terrain-relative nav), and LunaNet (LANS) pseudoranges, with the IMU biases estimated online. The site / DEM is owned by the shared World.

Public Members

int seed = 42¶

std::string start_epoch_utc = "2027-03-01T00:00:00"¶

double dt_s = 0.5¶: IMU / filter / measurement step [s] (must match the guidance app).

double site_lat_deg = -89.45¶

double site_lon_deg = 222.8¶

double dem_half_width_m = 4000.0¶

double dem_max_res_m = 20.0¶

double lander_clock_bias_s = 1.0e-6¶

double lander_clock_drift_sps = 1.0e-11¶

double accel_noise_density = 3.4e-4¶

double accel_bias_rw = 1.0e-4¶

double gyro_noise_density = 3.4e-6¶

double gyro_bias_rw = 1.0e-6¶

double accel_bias0 = 1.0e-2¶

double gyro_bias0 = 5.0e-4¶

bool enable_altimeter = true¶

double altimeter_sigma_m = 2.0¶

double altimeter_max_range_m = 3000.0¶

bool enable_craters = true¶

int n_craters = 60¶

double crater_field_radius_m = 3000.0¶

double camera_fov_deg = 30.0¶

int max_craters_per_epoch = 6¶

double crater_sigma_arcsec = 120.0¶

bool enable_lunanet = true¶

std::vector<LcrnsSatConfig> satellites¶

double elevation_mask_deg = 5.0¶

double pseudorange_sigma_m = 1.0¶

double sise_m = 3.0¶

double init_pos_sigma_m = 100.0¶

double init_vel_sigma_mps = 1.0¶

double init_att_sigma_deg = 2.0¶

double init_accel_bias_sigma = 2.0e-2¶

double init_gyro_bias_sigma = 1.0e-3¶

double init_clock_bias_sigma_s = 1.0e-6¶

double init_clock_drift_sigma_sps = 1.0e-9¶

double filter_bias_rw_scale = 3.0¶