Detailed Description

Modeled parameters of the gyro.

Public Member Functions
	PlanarGyroParams (double arw, double biasInstability)
double	arwSigma (double deltaT)
	Std dev of the integrated measurement (rad), for the specified duration (sec).
double	biasInstabilitySigma ()
	Bias instability is the "zero slope" part of the Allan curve, so it is not dependent on sample rate.
bool	operator== (const PlanarGyroParams &other) const
void	print (const std::string &s) const

Member Function Documentation

double gtsam::PlanarGyroParams::arwSigma ( double deltaT )

Std dev of the integrated measurement (rad), for the specified duration (sec).

Integrated gaussian white noise is also gaussian, scaled with duration, so std dev scales with sqrt(time), so the unit here is rad.

double gtsam::PlanarGyroParams::biasInstabilitySigma ( )

Bias instability is the "zero slope" part of the Allan curve, so it is not dependent on sample rate.

The unit here is rad/s (same as the unit of bias itself).

The documentation for this class was generated from the following files: