make_sensor {navigation}

Construct a sensor object

Description

Construct a sensor object for IMU, GPS, and Baro from error model of class ts.model

Usage

make_sensor(
  name,
  frequency = 1,
  error_model1 = NULL,
  error_model2 = NULL,
  error_model3 = NULL,
  error_model4 = NULL,
  error_data1 = NULL
)

Arguments

name

Name of the sensor

frequency

Frequency associated with the error model

error_model1

Error model of class ts.model for either accelerometer (as part of imu), horizontal components of GPS position, or Barometer

error_model2

Error model of class ts.model for either gyroscope (as part of imu) or vertical component of GPS position

error_model3

Error model of class ts.model for horizontal components of GPS velocity

error_model4

Error model of class ts.model for vertical component of GPS velocity

error_data1

Vector of error observations.

Value

An object of class sensor containing sensor name and its additive error model along with the frequency associated to that model

Author(s)

Davide Cucci, Lionel Voirol, Mehran Khaghani, Stéphane Guerrier

Examples

# IMU:
imu.freq <- 250
acc.mdl <- WN(sigma2 = 1.535466e-04) + RW(gamma2 = 1.619511e-10)
gyr.mdl <- WN(sigma2 = 1.711080e-03) + RW(gamma2 = 1.532765e-13)
imu.mdl <- make_sensor(
  name = "imu",
  frequency = imu.freq,
  error_model1 = acc.mdl,
  error_model2 = gyr.mdl
)

# GPS:
gps.freq <- 1
gps.mdl.pos.hor <- WN(sigma2 = 2^2)
gps.mdl.pos.ver <- WN(sigma2 = 4^2)
gps.mdl.vel.hor <- WN(sigma2 = 0.04^2)
gps.mdl.vel.ver <- WN(sigma2 = 0.06^2)
gps.mdl <- make_sensor(
  name = "gps", frequency = gps.freq,
  error_model1 = gps.mdl.pos.hor,
  error_model2 = gps.mdl.pos.ver,
  error_model3 = gps.mdl.vel.hor,
  error_model4 = gps.mdl.vel.ver
)

# Baro:
baro.freq <- 1
baro.mdl <- WN(sigma2 = 0.5^2)
baro.mdl <- make_sensor(
  name = "baro",
  frequency = baro.freq,
  error_model1 = baro.mdl
)