Struct LanderNavResults

Struct Documentation

struct LanderNavResults

Per-epoch truth/estimate error and covariance series produced by the lander navigation application, plus the terrain / crater map, in a form directly plottable from Python. Mirrors the fields the old RunLanderNav returned.

Public Members

std::string site_id
std::string site_name
double site_lat_deg = 0.0
double site_lon_deg = 0.0
MatXd dem_x
MatXd dem_y
MatXd dem_elevation
double dem_center_x = 0.0
double dem_center_y = 0.0
MatXd crater_enu

M x 2, crater (East, North) [m].

VecXd time_s
MatXd pos_err_enu

N x 3, (truth - est) position error in ENU [m].

MatXd pos_sigma_enu

N x 3, 1-sigma position uncertainty in ENU [m].

VecXd pos_err_norm

N, 3D position error magnitude [m].

VecXd vel_err_norm

N, 3D velocity error magnitude [m/s].

VecXd clock_bias_err

N, clock-bias error [s].

VecXd clock_bias_sigma

N, clock-bias 1-sigma [s].

VecXi n_visible_sat

N, number of visible LunaNet satellites.

VecXi n_craters

N, number of tracked crater landmarks.

MatXd accel_bias_err
MatXd accel_bias_sigma
MatXd gyro_bias_err
MatXd gyro_bias_sigma
MatXd att_err_deg
MatXd att_sigma_deg
MatXd att_quat_est

N x 4, estimated body-to-nav attitude quaternion [w,x,y,z] (MEKF).

MatXd traj_enu_truth

N x 3, truth (East, North, Up) [m].

MatXd traj_enu_est

N x 3, estimated (East, North, Up) [m].

VecXd alt_truth

N, truth height above terrain [m].

VecXd alt_est

N, estimated height above terrain [m].

std::vector<std::string> satellite_names