Sensor measurement noise characteristics.
Definition at line 301 of file EgomotionTypes.h.
Data Fields | |
| float32_t | gyroNoiseDensityDeg |
| Expected zero mean measurement noise of the gyroscope, also known as Noise Density [deg/s/sqrt(Hz)] A default value of 0.015 [deg/s/sqrt(Hz)] will be assumed if no parameter, i.e. More... | |
| float32_t | gyroDriftRate |
| Expected gyroscope drift rate in [deg/s]. More... | |
| float32_t | gyroBiasRange |
| If known this value in [rad/s] shall indicate standard deviation of the expected bias range of the gyroscope sensor. More... | |
| float32_t | accNoiseDensityMicroG |
| Expected zero mean measurement noise of the linear accelerometer, also known as Noise Density [ug/sqrt(Hz)] A default value of 100 micro-g per sqrt(Hz) will be assumed if no parameter, i.e. More... | |
| float32_t | imuSamplingRateHz |
| If known this entry shall indicate expected sampling rate in [Hz] of the IMU sensor. More... | |
| float32_t | odometrySamplingRateHz |
| If known this entry shall indicate expected sampling rate in [Hz] of the odometry signals. More... | |
| dwTime_t | velocityLatency |
| CAN velocity latency in microseconds which is read from can properties in rig file. More... | |
| float32_t | velocityFactor |
| CAN velocity correction factor which is read from can properties in rig file. More... | |
| float32_t dwEgomotionSensorCharacteristics::accNoiseDensityMicroG |
Expected zero mean measurement noise of the linear accelerometer, also known as Noise Density [ug/sqrt(Hz)] A default value of 100 micro-g per sqrt(Hz) will be assumed if no parameter, i.e.
0 or nan, passed
Definition at line 318 of file EgomotionTypes.h.
| float32_t dwEgomotionSensorCharacteristics::gyroBiasRange |
If known this value in [rad/s] shall indicate standard deviation of the expected bias range of the gyroscope sensor.
Usually temperature controlled/calibrated gyroscopes vary around the mean by few tens of a radian. If 0 is given, it will be assumed the standard deviation around the bias mean is about +-0.05 [rad/s], ~ +- 3deg/s
Definition at line 314 of file EgomotionTypes.h.
| float32_t dwEgomotionSensorCharacteristics::gyroDriftRate |
Expected gyroscope drift rate in [deg/s].
A default value of 0.025 [deg/s] will be assumed if no parameter, i.e. 0 or nan, passed
Definition at line 309 of file EgomotionTypes.h.
| float32_t dwEgomotionSensorCharacteristics::gyroNoiseDensityDeg |
Expected zero mean measurement noise of the gyroscope, also known as Noise Density [deg/s/sqrt(Hz)] A default value of 0.015 [deg/s/sqrt(Hz)] will be assumed if no parameter, i.e.
0 or nan, passed
Definition at line 305 of file EgomotionTypes.h.
| float32_t dwEgomotionSensorCharacteristics::imuSamplingRateHz |
If known this entry shall indicate expected sampling rate in [Hz] of the IMU sensor.
A default value of 100Hz is used if no parameter passed
Definition at line 322 of file EgomotionTypes.h.
| float32_t dwEgomotionSensorCharacteristics::odometrySamplingRateHz |
If known this entry shall indicate expected sampling rate in [Hz] of the odometry signals.
This is used for detection of delays or missing vehicle signals (valid range: [33%, 300%] of below value). A default value of 50Hz is used if no parameter passed (valid range: [16.7Hz, 150Hz])
Definition at line 327 of file EgomotionTypes.h.
| float32_t dwEgomotionSensorCharacteristics::velocityFactor |
CAN velocity correction factor which is read from can properties in rig file.
When dwEgomotionParameters::speedMeasurementType == DW_EGOMOTION_FRONT_SPEED or DW_EGOMOTION_REAR_SPEED then received speed measurements are multiplied by this factor to obtain (approximately) true vehicle speed, e.g. due to non-nominal wheel diameters.
Definition at line 337 of file EgomotionTypes.h.
| dwTime_t dwEgomotionSensorCharacteristics::velocityLatency |
CAN velocity latency in microseconds which is read from can properties in rig file.
Definition at line 330 of file EgomotionTypes.h.