* double *vec O imu body velocity in ecef-frame after * removing effects of lever-arm (NULL: no output) * return : none * note: this function can convert ins body position/velocity to @@ -1076,46 +1262,6 @@ extern void updinse(insstate_t *ins) matmul("NN",3,1,3,1.0,Cne,in...
Find the NED velocity components of an aircraft using its ECEF components. Specify the geodetic coordinates of the aircraft in degrees and the ECEF velocity components in kilometers per hour. lat0 = 61.64; lon0 = 30.70; U = 530.2445; V = 492.1283; W = 396.3459; ...
Vb — Velocity of body with respect to fixed-frame three-element vector ωrel— Relative angular rates of body with respect to NED frame three-element vector ωb— Angular rates of body with respect to inertial frame three-element vector dωb/dt— Angular accelerations of the body with respe...
* double *vn O velocity in ned-frame * return: none * ---*/ externvoidgetvn(constinsstate_t*ins,double*vn) externvoidgetvn(constinsstate_t*ins,double*vn) { doublepos[3],C[9]; trace(3,"getvn:\n"); ecef2pos(ins->re,pos); ned2xyz(pos,C); matmul("...
It was found that the ECEF parameterization of the EKF allows for more accurate estimation of attitude, position, and velocity, and that both parameterizations estimate inertial measurement unit errors to the same accuracy.State University of New York at Buffalo.Centinello, Frank J., III....
estimated_velocity = self.ned_to_ecef( self.static_properties.initial_v_north, self.static_properties.initial_v_east, self.static_properties.initial_v_down, ) # initial velocity should be given in meters with respect to your NED # old_est_C_b_e in Loosely_coupled_INS_GNSS (line 166) ...
ecef2pos(ins->re,ins->rn);/* attitude/velocity */ ned2xyz(ins->rn,Cne); matmul("TN",3,3,3,1.0,Cne,ins->Cbe,0.0,ins->Cbn); matmul("TN",3,1,3,1.0,Cne,ins->ve ,0.0,ins->vn );/* acceleration */ matmul("TN",3,1,3,1.0,Cne,ins->ae,0.0,ins->an); ...