struct mola::GravityLeveler::Parameters

Overview

#include <GravityLeveler.h>

struct Parameters
{
    // fields

    double window = 10.0;
    double epoch_period = 1.0;
    double tilt_random_walk = 0.1;
    double reading_sigma = 0.15;
    double deadband = 2.0;
    double max_tilt = 5.0;
    double initial_tilt_sigma = 3.0;
    double initial_acc_error_sigma = 0.3;
    double velocity_span = 1.0;
    std::size_t min_readings_per_window = 10;
    double max_imu_gap = 0.5;
    std::size_t max_consecutive_rejections = 5;
    double gravity = 9.81;
};

Fields

double window = 10.0

Trailing window of the gravity reading [s]

double epoch_period = 1.0

Period between filter updates [s]

double tilt_random_walk = 0.1

Random walk of the frame tilt [deg/sqrt(s)]

double reading_sigma = 0.15

Noise of each tilt reading [deg]

double deadband = 2.0

Tilt left uncorrected [deg]

double max_tilt = 5.0

Readings beyond this tilt are ignored: they mean a failing attitude of the trajectory, not a tilt of its frame [deg]

double initial_tilt_sigma = 3.0

Prior sigma of the initial tilt [deg]

double initial_acc_error_sigma = 0.3

Prior sigma of the body-frame accelerometer error [m/s^2]

double velocity_span = 1.0

Time span for the trajectory’s own velocity [s]

std::size_t min_readings_per_window = 10

Minimum number of IMU readings in a window to take a reading

double max_imu_gap = 0.5

Longest time without IMU readings within a window to take a reading [s]

std::size_t max_consecutive_rejections = 5

Consecutive gated readings after which the filter restarts

double gravity = 9.81

Standard gravity [m/s^2]