Пример #1
0
 def state(self, time):
     """
     Returns entire state of ideal ns.
     """
     q = dcm2quat(self.dcmbn(time))
     return np.array([self.phi(time), self.lam(time), self.h(time),
                      self.vn(time), self.ve(time), self.vd(time),
                      self.an(time), self.ae(time), self.ad(time),
                      q[0], q[1], q[2], q[3]])
Пример #2
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 def init_state(self):
     """
     Returns initial state of IMU.
     """
     q = dcm2quat(self.dcmbn(0.))
     return np.array([self.phi(0.), self.lam(0.), self.h(0.),
                      self.vn(0.), self.ve(0.), self.vd(0.),
                      self.an(0.), self.ae(0.), self.ad(0.),
                      q[0], q[1], q[2], q[3]])
Пример #3
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 def state_extended(self, time):
     """
     Returns entire state of ideal ns.
     """
     q = dcm2quat(self.dcmbn(time))
     return np.array([self.phi(time), self.lam(time), self.h(time),
                      self.vn(time), self.ve(time), self.vd(time),
                      self.an(time), self.ae(time), self.ad(time),
                      q[0], q[1], q[2], q[3],
                      self.wx(time), self.wy(time), self.wz(time),
                      self.ax(time), self.ay(time), self.az(time)])