pyins.filters

Navigation Kalman filters.

Module provides functions to run a navigation Kalman filter in feedback (extended Kalman filter) and feedforward (linearized Kalman filter) forms. It relies on functionality provided by pyins.inertial_sensor, pyins.error_model and pyins.measurements modules.

Refer to [1] for the discussion of Kalman filtering in context of inertial navigation.

Classes

GmfSettings()

Settings for Gaussian Mixture Filter for heading estimation.

Functions

run_feedback_filter(initial_pva, ...[, ...])	Run navigation filter with feedback corrections.
run_feedforward_filter(trajectory_nominal, ...)	Run navigation filter with feedforward output compensation.

References

[1]

P. D. Groves, “Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems”, 2nd edition