pyins.strapdown.compute_increments_from_imu

pyins.strapdown.compute_increments_from_imu(imu, sensor_type)

Compute attitude and velocity increments from IMU readings.

This function transforms raw gyro and accelerometer readings into rotation vectors and velocity increments by applying coning and sculling corrections and accounting for IMU rotation during a sampling period.

The algorithm assumes a linear model for the angular velocity and the specific force.

The number of returned increments is always one less than the number of IMU readings, even for increment-type sensors (by convention). It means that for increment sensors you need to supply an additional “before” sample. The function pyins.sim.generate_imu already does that.

Parameters:

imuImu

Dataframe with IMU data.

sensor_type‘rate’ or ‘increment’

IMU type.

Returns:

Increments

DataFrame containing attitude and velocity increments with one less row than the passed imu.