nav_eq.h

Go to the documentation of this file.

#ifndef NAV_EQ_H_
#define NAV_EQ_H_


#include "nav_types.h"
#include <math.h>
#include <stdint.h>
#include "compiler.h"


//************* Definitions *************//


#define MAX_ORIENTATIONS 12

#define MIN_ORIENTATIONS 3

#define MATRIX_INVERSION_ERROR 1

#define ACC_STATIONARITY_ERROR 2

#define ACC_CALIBRATION_ILLCONDITIONED 3

#define NUMBER_OF_ORIENTATIONS_TO_LARGE 4   

#define NUMBER_OF_ORIENTATIONS_TO_SMALL 5   

#define absf(a)(a>0 ? a:-a)


//************* Function declarations  **************//



void calibrate_accelerometers(void);

void estimate_accelerometer_biases(void);

void correct_navigation_states(void);



void gain_matrix(void);



void initialize_navigation_algorithm(void);




void measurement_update(void);



void strapdown_mechanisation_equations(void);



void time_up_data(void);



void update_imu_data_buffers(void);


void ZUPT_detector(void);

   

void zupt_update(void);


#endif /* NAV_EQ_H_ */