Struct SurfaceImuMeasurement¶

Defined in File surface_measurements.h

Struct Documentation¶

struct SurfaceImuMeasurement¶

One inertial-measurement-unit sample used by the strapdown INS.

Carries the raw body-frame accelerometer specific force (accel) and gyroscope angular rate (gyro) — i.e. the true quantities corrupted by a slowly-varying bias and white noise, following the Kalibr IMU noise model (https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model). The filter corrects these with its estimated biases and mechanizes them into position/velocity/attitude, so no helper methods live here — the mechanization needs the full nav state and attitude (see SurfaceRoverNavApp::Predict).

Public Members

double timestamp = 0.0¶: sample epoch [s]

Vec3d accel = Vec3d::Zero()¶: body-frame specific force [m/s^2]

Vec3d gyro = Vec3d::Zero()¶: body-frame angular rate [rad/s]