Struct NavErrorContext¶

Defined in File measurement.h

Struct Documentation¶

struct NavErrorContext¶

Nominal navigation state an ErrorStateMeasurement model linearizes about.

Error-state (INS) filters keep the nominal state as structured members and estimate a small error state [dr, dv, dtheta, db_a, db_g, d(clock_bias), d(clock_drift)]. Because the measurement Jacobian depends on the attitude R_b2n (which does not live naturally in a flat State vector), the nominal state is passed to the model through this context rather than as a State.

Public Members

Vec3d r = Vec3d::Zero()¶: position, Moon-fixed frame [m]

Vec3d v = Vec3d::Zero()¶: velocity, Moon-fixed frame [m/s]

Mat3d R_b2n = Mat3d::Identity()¶: body-to-nav attitude

double clock_bias_s = 0.0¶: receiver clock bias [s]

double clock_drift_sps = 0.0¶: receiver clock drift [s/s]

int error_state_size = 0¶: dimension of the error state (columns of H)