pyins.error_model.InsErrorModel.transform_to_output

InsErrorModel.transform_to_output(trajectory)

Compute matrix transforming the internal states into output states.

Output states are comprised of NED position errors, NED velocity errors, roll, pitch and heading errors.

Parameters:

trajectoryTrajectory or Pva

Either full trajectory dataframe or single position-velocity-attitude.

Returns:

ndarray, shape (9, n_states) or (n, 9, n_states)

Transformation matrix or matrices.