make_sensor: Construct a 'sensor' object

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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
)

navigation documentation built on May 31, 2023, 8:39 p.m.