jat.sensors
Class AccelerometerErrorModel

java.lang.Object
  jat.sensors.AccelerometerErrorModel

public class AccelerometerErrorModel
extends java.lang.Object

The AccelerometerErrorModel Class models a generic accelerometer. It does not include g-sensitive or non-linearity error effects.

Version:

1.0

Author:

Dave Gaylor

Field Summary

VectorN	biasRWsigmas
VectorN	initialBiases
VectorN	misalignments
GaussianVector	noise
VectorN	noiseSigmas
GaussianVector	randwalk
VectorN	scaleFactors
Matrix	sf

Constructor Summary

AccelerometerErrorModel()
Default constructor.

AccelerometerErrorModel(VectorN sf, VectorN ma, VectorN ns, VectorN ib, VectorN bs)
Construct an accelerometer error model.

Method Summary

VectorN

computeErrors(VectorN f, VectorN ba) Outputs the accelerometer's contribution to the INS velocity error (del-f in body frame).

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

scaleFactors

public VectorN scaleFactors

misalignments

public VectorN misalignments

noiseSigmas

public VectorN noiseSigmas

initialBiases

public VectorN initialBiases

biasRWsigmas

public VectorN biasRWsigmas

noise

public GaussianVector noise

randwalk

public GaussianVector randwalk

sf

public Matrix sf

Constructor Detail

AccelerometerErrorModel

public AccelerometerErrorModel()

Default constructor. Models a perfect accelerometer.

AccelerometerErrorModel

public AccelerometerErrorModel(VectorN sf,
                               VectorN ma,
                               VectorN ns,
                               VectorN ib,
                               VectorN bs)

Construct an accelerometer error model.

Parameters:

sf - Vector3 containing scale factor errors in ppm.

ma - Vector6 containing accelerometer misalignments in arcsec.

ns - Vector3 containing the accelerometer measurement noise sigmas in micro-g/rt-Hz.

ib - Vector3 containing the initial accel bias sigma in mg. This is the random constant part.

bs - Vector3 containing the sigmas for accel random walk in m/rt s.

Method Detail

computeErrors

public VectorN computeErrors(VectorN f,
                             VectorN ba)

Outputs the accelerometer's contribution to the INS velocity error (del-f in body frame).

Parameters:

qref - reference quaternion.

f - Specific force vector.

ba - Vector3 containing the current accel bias state.

Returns:

Velocity due to accelerometer errors.