API Reference

MEKF Class

class mekf.MEKF(inputs: dict | None = None)

Bases: object

Class wrapper around MEKF implementation.

Methods

calculate()

Run the MEKF simulation and return a dictionary with logs and results.

plot_all
plot_attitude
plot_bias
plot_errors_with_bounds
plot_pointing_error

__init__(inputs: dict | None = None) → None

calculate() → dict

Run the MEKF simulation and return a dictionary with logs and results. The same information is also stored on self.results.

plot_pointing_error() → None

plot_bias() → None

plot_attitude() → None

plot_errors_with_bounds() → None

plot_all() → None

Core Functions

utils.Phi(dt, w_h, I3, simple=False, min_e=1e-07)

utils.skew(a)

utils.Q(sigma_v, sigma_u, dt, I3)

utils.K(P, H, R)

utils.P_meas(K, H, P, R, Joseph=True)

utils.P_prop(P, Phi, Q)

utils.measurement_indices(t_max, dt, measurement_freq)

utils.quat_mul(q1, q2)

utils.quat_propagate(q, w, dt, p_min=1e-07)

utils.Xi(q)

utils.startracker_meas(q_t, q_h, sigma, n)

utils.quat_inv(q)

utils.quat_to_rotvec(q, eps=1e-12)