@mainpage yins (An simple implementation of SINS)
Here is introduction
2019/09/30 Add GNSS/INS/OD loosely kalman filter combination.
See yins_html_docs, use browser to open html file.
| Abbre | explanation |
|---|---|
| Cnb | \f$ C_n^b \f$, trans matrix n-axis to b-axis(the same as Qnb) |
| Cnb,Qnb,Enb | trans from n-frame to b-axis(or attitude b-axis to n-axis) |
| n,b,e,i,c,d | reference frame, navitaion/imu body/ecef/eci/carrier/odometer |
| euler | Euler attitude, [roll, pitch, yaw] |
| g | gps(or gnss phase center),gravity |
| d | data, or DELTA, mean difference, e.g. dv, dtheta |
| theta | angle increment |
| v | velocity |
| SHF | Spherical Harmonics Function |
| dbl | double |
| enu,ned | East, North, Up, Down |
| v3 | 3D vector |
| m3 | 3D matrix |
| _t | data type |
| att | attitude(could express by DCM,Quat,Euler), most express as "Enb" |
| mul | multiply |
| dcm,ctm | Direct Cosine Matrix, Coordinate Transform Matrix |
| w | Omega, Rotation rate(wie_e mean \f$ w_ie^e \f$, project to e-axis) |
| rv | rotation vector |
| lat | latitude |
| lon | longitude |
| hgt | height |
| pos | position, most represent under geodetic coordinate, (lat,lon,hgt) |
| xyz | position under ECEF, Cartesian coordinate |
| rad | radius |
| deg | degree, unit |
| nav | navigtaion |
| cfg | config/configuration |
| kf | kalman filter |
| od | odometer |
| sol | solution |
| ft | filetype |
| kod | odometer scalar factor, true/output |
| itg | intergral |
| ycsv | yins csv file, a self-explain extended csv file format for yins |
you can use LATEX here:
\f$ \lambda = \alpha \f$
\f[ \lambda = \frac{a}{b} \f]
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