Navigation::AUV::SGNavigation Namespace Reference

Detailed Description

Second Generation Navigation.

Classes
struct	Arguments
struct	Task

Enumerations
enum	StateIndexes {   STATE_X, STATE_Y, STATE_PSI, STATE_R,   STATE_U, STATE_V, STATE_R_BIAS, STATE_PSI_BIAS,   STATE_K, NUM_STATE }
enum	OutputIndexes {   OUT_U, OUT_V, OUT_PSI, OUT_R,   OUT_GPS_X, OUT_GPS_Y, NUM_OUT }
enum	ProcessNoiseIndexes {   PN_POSITION, PN_PSI, PN_YAWRATE, PN_SPEED,   PN_YRATE_BIAS, PN_PSI_BIAS }
enum	MeasureNoiseIndexes {   MN_U, MN_V, MN_PSI, MN_YAWRATE,   MN_LBL }
enum	StateCovarianceIndexes {   SC_POSITION, SC_ANGLES, SC_SPEED, SC_BIASES,   SC_RPM }
enum	GpsAccuracyIndexes { GPS_ACC_BAD, GPS_ACC_AVERAGE, GPS_ACC_GOOD, GPS_ACC_PERFECT }

Enumeration Type Documentation

enum Navigation::AUV::SGNavigation::GpsAccuracyIndexes

GPS accuracy parameters.

Enumerator
GPS_ACC_BAD
GPS_ACC_AVERAGE
GPS_ACC_GOOD
GPS_ACC_PERFECT

enum Navigation::AUV::SGNavigation::MeasureNoiseIndexes

Measure Noise parameters.

Enumerator
MN_U
MN_V
MN_PSI
MN_YAWRATE
MN_LBL

enum Navigation::AUV::SGNavigation::OutputIndexes

Navigation Output states.

Enumerator
OUT_U	DVL Forward Speed (m/s).
OUT_V	DVL Transversal Speed (m/s).
OUT_PSI	Heading Angle (rad).
OUT_R	Heading Rate (rad/s).
OUT_GPS_X	GPS x (m).
OUT_GPS_Y	GPS y (m).
NUM_OUT	Number of Outputs (without LBL).

enum Navigation::AUV::SGNavigation::ProcessNoiseIndexes

Process Noise parameters.

Enumerator
PN_POSITION
PN_PSI
PN_YAWRATE
PN_SPEED
PN_YRATE_BIAS
PN_PSI_BIAS

enum Navigation::AUV::SGNavigation::StateCovarianceIndexes

State Covariance parameters.

Enumerator
SC_POSITION
SC_ANGLES
SC_SPEED
SC_BIASES
SC_RPM

enum Navigation::AUV::SGNavigation::StateIndexes

Navigation states.

Enumerator
STATE_X	Vehicle north (m).
STATE_Y	Vehicle east (m).
STATE_PSI	Heading Angle (rad).
STATE_R	Heading Rate (rad/s)
STATE_U	Ground Velocity x (m/s).
STATE_V	Ground Velocity y (m/s).
STATE_R_BIAS	Heading Rate Bias (rad/s).
STATE_PSI_BIAS	Heading Angle Bias (rad).
STATE_K	RPM to Speed multiplicative factor.
NUM_STATE	Number of States.