Module: imu_sensor¶
Sensor model to simulate an IMU.
The module
PDF Description
contains further information on this module’s function,
how to run it, as well as testing.
The corruption types are outlined in this
PDF Description
.
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class
ImuSensor
: public SysModel¶ Public Functions
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ImuSensor
()¶
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~ImuSensor
()¶
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void
CrossInit
()¶
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void
SelfInit
()¶
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void
UpdateState
(uint64_t CurrentSimNanos)¶
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void
readInputMessages
()¶
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void
writeOutputMessages
(uint64_t Clock)¶
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void
setBodyToPlatformDCM
(double yaw, double pitch, double roll)¶
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void
computePlatformDR
()¶
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void
computePlatformDV
(uint64_t CurrentTime)¶
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void
applySensorErrors
(uint64_t CurrentTime)¶
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void
applySensorDiscretization
(uint64_t CurrentTime)¶
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void
applySensorSaturation
(uint64_t CurrentTime)¶
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void
computeSensorErrors
()¶
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void
scaleTruth
()¶
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void
setLSBs
(double LSBa, double LSBo)¶
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void
setCarryError
(bool aCarry, bool oCarry)¶
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void
setRoundDirection
(roundDirection_t aRound, roundDirection_t oRound)¶
Public Members
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std::string
InputStateMsg
¶ Message name for spacecraft state
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std::string
OutputDataMsg
¶ Message name for CSS output data
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double
senRotMax
¶ [m/s2] Translational acceleration sen bias
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double
senTransMax
¶ [r/s] Gyro saturation value
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uint64_t
OutputBufferCount
¶ [m/s2] Accelerometer saturation value
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bool
NominalReady
¶ number of output msgs stored
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Eigen::Matrix3d
PMatrixAccel
¶ Flag indicating that system is in run
[-] Covariance matrix used to perturb state
[-] Current navigation errors applied to truth
[-] Current navigation errors applied to truth
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IMUSensorIntMsg
trueValues
¶ [-] total measurement without perturbations
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IMUSensorIntMsg
sensedValues
¶ [-] total measurement including perturbations
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Discretize
aDisc
¶ (-) scale factors for acceleration axes
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Discretize
oDisc
¶ (-) instance of discretization utility for linear acceleration
Private Members
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int64_t
InputStateID
¶
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int64_t
OutputDataID
¶ Connect to input time message
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uint64_t
PreviousTime
¶ Connect to output CSS data
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int64_t
numStates
¶ Timestamp from previous frame
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SCPlusStatesSimMsg
StatePrevious
¶ Number of States for Gauss Markov Models
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SCPlusStatesSimMsg
StateCurrent
¶ Previous state to delta in IMU
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GaussMarkov
errorModelAccel
¶ Current SSBI-relative state
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GaussMarkov
errorModelGyro
¶ !< [-] Gauss-markov error states
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