pyins.strapdown

Strapdown INS integration algorithms.

This module provides implementation of the classic “strapdown algorithm” to obtain position, velocity and attitude by integration of IMU readings. The implementation follows [1] and [2] with some simplifications.

Functions

compute_increments_from_imu(imu, sensor_type)

Compute attitude and velocity increments from IMU readings.

Classes

Integrator(pva[, with_altitude])

Strapdown INS integration algorithm.

References

[1]

P. G. Savage, “Strapdown Inertial Navigation Integration Algorithm Design Part 1: Attitude Algorithms”, Journal of Guidance, Control, and Dynamics 1998, Vol. 21, no. 2.

[2]

P. G. Savage, “Strapdown Inertial Navigation Integration Algorithm Design Part 2: Velocity and Position Algorithms”, Journal of Guidance, Control, and Dynamics 1998, Vol. 21, no. 2.