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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... | |
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.
