DUNE: Uniform Navigational Environment  2.3.2
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

GPS accuracy parameters.

Enumerator
GPS_ACC_BAD 
GPS_ACC_AVERAGE 
GPS_ACC_GOOD 
GPS_ACC_PERFECT 

Measure Noise parameters.

Enumerator
MN_U 
MN_V 
MN_PSI 
MN_YAWRATE 
MN_LBL 

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).

Process Noise parameters.

Enumerator
PN_POSITION 
PN_PSI 
PN_YAWRATE 
PN_SPEED 
PN_YRATE_BIAS 
PN_PSI_BIAS 

State Covariance parameters.

Enumerator
SC_POSITION 
SC_ANGLES 
SC_SPEED 
SC_BIASES 
SC_RPM 

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.