pyins.measurements.BodyVelocity.compute_matrices

BodyVelocity.compute_matrices(time, pva, error_model)

Compute matrices for a single linearized measurement.

It must compute the linearized measurement model (z, H, R) at a given time. If the measurement is not available at the given time, it must return None.

Parameters:

timefloat

Time.

pvaPva

Position-velocity-attitude estimates from INS at time.

error_modelpyins.error_model.InsErrorModel

InsErrorModel instance. The method must account for error_model.with_altitude as appropriate.

Returns:

zndarray, shape (n_obs,)

Observation vector. A difference between the value derived from pva and an observed value.

Hndarray, shape (n_obs, n_states)

Observation model matrix. It relates the vector z to the INS error states.

Rndarray, shape (n_obs, n_obs)

Covariance matrix of the measurement error.