Struct SurfaceRoverNavAppParams

Struct Documentation

struct SurfaceRoverNavAppParams

Onboard tuning for SurfaceRoverNavApp (Kalibr IMU noise densities + measurement/ clock process noise).

The IMU noise follows the Kalibr model (https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model): each sensor has a continuous-time white-noise density and a bias random-walk density. Defaults are representative tactical-grade (LN200S-like) values.

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

LANS receiver pseudorange noise 1-sigma [m].

double sise_m = 3.0

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

double dem_sigma_m = 5.0

DEM altitude-constraint 1-sigma [m].

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)]