blockInertialNavigationSystem
a quaternion based INS
Extends from Modelica.Blocks.Interfaces.DiscreteBlock (Base class of discrete control blocks).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Time | samplePeriod (from DiscreteBlock) | Sample period of component | |
| SI.Time | startTime (from DiscreteBlock) | 0 | First sample time instant |
| Real | W | 0 | |
| Real | R0 | 6.3891e6 | |
| Real[3] | euler_start | {0, 0, 0} | |
| Real | rad2Deg | 180/Modelica.Constants.pi |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| NavigatorInput | u | ||
| NavigatorState | x | ||
| Real[3,3] | C_nb | ||
| Real[3] | euler | ||
| Real | phi_deg | ||
| Real | theta_deg | ||
| Real | psi_deg | ||
| Real[4] | q | ||
| Real | qNorm | ||
| Real[4] | qDot |