pyins.sim

Simulation of sensors.

The main functionality is synthesis of IMU readings from the given trajectory. It also contains some utility functions useful for aides INS simulation.

Functions

generate_imu(time, lla, rph[, velocity_n, ...])	Generate IMU readings from the trajectory.
generate_sine_velocity_motion(dt, ...[, ...])	Generate trajectory with NED velocity changing as sine.
generate_position_measurements(trajectory, ...)	Generate data with latitude-longitude-altitude position measurements.
generate_ned_velocity_measurements(...[, rng])	Generate data with NED velocity measurements.
generate_body_velocity_measurements(...[, rng])	Generate data with velocity measurements expressed in body frame.
generate_pva_error(position_sd, velocity_sd, ...)	Generate random position-velocity-attitude error.
perturb_pva(pva, pva_error)	Apply errors to position-velocity-attitude.

Classes

Turntable(table_lla[, table_rph, ...])

Simulator of a turntable with 2 axes.