Construct a sensor object — make

Construct a sensor object for IMU, GPS, and Baro from error model of class ts.model

make_sensor(
  name,
  frequency = 1,
  error_model1 = NULL,
  error_model2 = NULL,
  error_model3 = NULL,
  error_model4 = NULL,
  error_data1 = NULL
)

Arguments

name: Name of the sensor
frequency: Frequency associated with the error model
error_model1: Error model of class ts.model for either accelerometer (as part of imu), horizontal components of GPS position, or Barometer
error_model2: Error model of class ts.model for either gyroscope (as part of imu) or vertical component of GPS position
error_model3: Error model of class ts.model for horizontal components of GPS velocity
error_model4: Error model of class ts.model for vertical component of GPS velocity
error_data1: Vector of error observations.

Value

An object of class sensor containing sensor name and its additive error model along with the frequency associated to that model

Author

Davide Cucci, Lionel Voirol, Mehran Khaghani, Stéphane Guerrier

Examples

# IMU:
imu.freq <- 250
acc.mdl <- WN(sigma2 = 1.535466e-04) + RW(gamma2 = 1.619511e-10)
gyr.mdl <- WN(sigma2 = 1.711080e-03) + RW(gamma2 = 1.532765e-13)
imu.mdl <- make_sensor(
  name = "imu",
  frequency = imu.freq,
  error_model1 = acc.mdl,
  error_model2 = gyr.mdl
)

# GPS:
gps.freq <- 1
gps.mdl.pos.hor <- WN(sigma2 = 2^2)
gps.mdl.pos.ver <- WN(sigma2 = 4^2)
gps.mdl.vel.hor <- WN(sigma2 = 0.04^2)
gps.mdl.vel.ver <- WN(sigma2 = 0.06^2)
gps.mdl <- make_sensor(
  name = "gps", frequency = gps.freq,
  error_model1 = gps.mdl.pos.hor,
  error_model2 = gps.mdl.pos.ver,
  error_model3 = gps.mdl.vel.hor,
  error_model4 = gps.mdl.vel.ver
)

# Baro:
baro.freq <- 1
baro.mdl <- WN(sigma2 = 0.5^2)
baro.mdl <- make_sensor(
  name = "baro",
  frequency = baro.freq,
  error_model1 = baro.mdl
)