InsGps
[Driver Interfaces]

GPS aided INS. More...

Classes
class	hydrointerfaces::InsGps
	Abstract class for a Ins/Gps system. More...
class	hydrointerfaces::InsGpsFactory
	Helper class to instantiate drivers. More...

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Detailed Description

GPS aided INS.

INS stands for inertial navigation system; basically it works by measuring the acceleration and turnrate vectors with an IMU (inertial measurement unit) and (double) integrating those to yield position velocity and attitude (PVA). To compensate for unbounded (quadratic) error growth it is often combined with a global sensor, e.g. GPS. Such a combined system ideally yields a locally smooth, globally correct PVA solution.