Module error_state 

ECEF indirect error-state system model and covariance prediction.

Structs

ErrorStateImuKinematics

Body-frame IMU kinematics used to linearize the error-state model.

ErrorStateLinearization

Linearized continuous and discrete error-state model for one predict step.

Functions

error_state_process_noise_discrete

Build the discrete process-noise covariance from an ImuSpec.

error_state_system_matrix_ecef

Build the ECEF error-state system matrix.

error_state_transition_matrix

Discretize F as I + F dt + 0.5 (F dt)^2.

linearize_error_state_ecef

Build F, Phi, and Q_d for one error-state predict step.

predict_error_state_covariance

Predict covariance as P = Phi P Phi^T + Q_d.