pyins.error_model

INS error model to use in navigation Kalman filters.

An INS error model is a system of non-stationary (depends on the trajectory) linear differential equations which describe time evolution of INS errors.

An error model (for full 3D INS) vector has 9 total states: 3 for position, velocity and attitude errors. The states can be selected in different ways and several error models were proposed in the literature. Here one particular model is implemented in class InsErrorModel, the details are given there.

Classes

InsErrorModel([with_altitude])

INS error model.

Functions

propagate_errors(trajectory[, pva_error, ...])

Deterministic linear propagation of INS errors.