MEMS IMU model. Outputs rate and acceleration. More...
#include <imu_mems.h>
Inheritance diagram for imu_mems:
Public Member Functions | |
| imu_mems (dsim_model_setup *setup) | |
| Constructor. | |
| ~imu_mems () | |
| Destructor. | |
| void | initialize_data () |
| Initialize outlets and output variables. | |
| void | initialization_complete () |
| Finish initialization. | |
| void | complete_timestep () |
| Computation done prior to numerical integration. | |
| void | initialize_timestep () |
| Computation done prior to numerical integration. | |
| void | rhs (double t, double jd) |
| Computation done during numerical integration. | |
 Public Member Functions inherited from powered_hardware | |
| void * | describe_setup (void *ds) |
| Describe the setup variables. | |
| void | initialize_data () |
| Initialize outlets and output variables. | |
| void | initialization_complete () |
| Finish initialization. | |
| void | initialize_timestep () |
| Initialize the timestep. | |
Protected Attributes | |
| dsim_variable | bodyRate_dsim |
| Body rate input. | |
| dsim_variable | acceleration_dsim |
| Linear acceleration input. | |
| dsim_variable | angularAcceleration_dsim |
| Angular acceleration input. | |
| dsim_variable | centerOfMass_dsim |
| Linear acceleration input. | |
| dsim_variable | body_rate_measured_dsim |
| Measured body rate. | |
| dsim_variable | acceleration_measured_dsim |
| Linear acceleration input. | |
| dsim_variable | integratedRate_dsim |
| Angular rate input. | |
| dsim_variable | biasAccelerometer_dsim |
| Angular rate input. | |
| dsim_variable | biasGyro_dsim |
| Angular rate input. | |
| dsim_variable | imuPosition_dsim |
| Angular rate input. | |
| dsim_variable | imuBodyToIMUMatrix_dsim |
| Angular rate input. | |
| dsim_variable | oneSigmaGyroBias_dsim |
| Gyro random walk noise. | |
| dsim_variable | oneSigmaAccelerometerBias_dsim |
| Accelerometer random walk noise. | |
| dsim_variable | oneSigmaGyro_dsim |
| Gyro output noise. | |
| dsim_variable | oneSigmaAccelerometer_dsim |
| Accelerometer output noise. | |
| dsim_variable | tauGyroBias_dsim |
| Gyro bias time constant. | |
| dsim_variable | tauAccelerometerBias_dsim |
| Accelerometer bias time constant. | |
| dsim_variable | omegaConstant_dsim |
| Gyro constant rate. | |
| dsim_variable | accelerationConstant_dsim |
| Accelerometer constant rate. | |
| dsim_variable | imuBodyToIMUMatrix_param_dsim |
| Accelerometer constant rate. | |
| dsim_variable | imuPosition_param_dsim |
| Position constant. | |
| Protected Attributes inherited from powered_hardware | |
| dsim_variable | power_on_dsim |
| Power consumed when on (constant) | |
| dsim_variable | power_standby_dsim |
| Power consumed when in standby mode (constant) | |
| dsim_variable | failed_dsim |
| Command flag for failed (1) or not (0) | |
| dsim_variable | on_dsim |
| Command flag for on (1) or off (1) | |
| dsim_variable | current_dsim |
| Measured current. | |
| dsim_variable | voltage_dsim |
| Input voltage. | |
| dsim_variable | thermal_node_dsim |
| Thermal node. | |
| dsim_variable | heat_dsim |
| Heat. | |
| dsim_variable | power_dsim |
| Power. | |
Detailed Description
MEMS IMU model. Outputs rate and acceleration.
Models an inertial measurement unit with 3 orthogonal linear accelerometers and 3 rate gyros. The model for both gyro and accelerometer is
omega = omega_true + bias + constant + noise dbias/dt + bias/tau = noise
The second equation is for a Markov model. If tau = infinity this is a random walk model
Reference: Warren S. Flenniken IV, John H. Wall, David M. Bevly, "Characterization of Various IMU Error Sources and the Effect on Navigation Performance"
The documentation for this class was generated from the following files:
- imu_mems.h
- imu_mems.cc
