OxTS C++ Generic Aiding SDK

Indices and tables

• Index

• Module Index

• Search Page

Table of Contents

Introduction

• Welcome

Manual

• Overview of GAD SDK
  • What is Generic Aiding Data (GAD)?
  • What does GAD SDK do?
  • How might an integration look?
• Getting Started
  • Prerequisites
  • What does the code look like?
  • Hardware setup and Initialisation
• Aiding types
  • Position
    • Aiding frames
    • Covariance
    • Lever arm
    • Code examples
  • Velocity
    • Aiding frames
    • Covariance
    • Lever arm
    • Code examples
  • Speed
    • Aiding Frames
    • Measurement values
    • Covariance
    • Lever Arm
    • Code examples
  • Attitude
    • Aiding Frames
    • Covariance
    • Alignment
    • Code examples
  • Heading
    • Aiding frames
    • Variance
    • Alignment
    • Code examples
  • Orientation
    • Aiding Frames
    • Covariance
    • Alignment
    • Code examples
• Debug Information
  • Is my data being formatted correctly?
  • Is my data being received?
  • Is my data being used?
    • Position
    • Velocity
    • Speed
    • Attitude
    • Heading
• Post-processing GAD data
  • Creating GAD files
  • Including GAD files in post-processing
    • Timestamping
    • Using NAVSolve to post-process data with a GAD file
• Advanced Options
  • Stream priority
  • Position-only initialisation
    • Providing velocity and orientation
  • Interfacing with a CAN bus
  • NCOM Output

Tutorials and examples

• My first GAD
  • Requirements
    • How to run the executable
  • Source code
  • Exercise
• Static-aiding
  • Requirements
    • How to run the executable
  • Source code
  • Code breakdown
  • Exercise
• CAN wheel speed
  • Source code
  • CAN-specific code

Reference section

• The Kalman Filter
  • The Kalman Filter delay
• Frames
  • An example
• Lever arms and Alignments
  • Lever arms
    • Directly via the SDK
    • Indirectly via the config file
  • Alignment
    • Directly via the SDK
    • Indirectly via the config file
  • Setting both linear and rotational displacements
• Covariance
  • Where do I find covariance figures for my aiding sensor?
• Timestamping
  • Types of timestamp
  • Synchronising clocks
• Glossary of terms
• GAD file column definitions
• Table of GAD file Enums
• Advanced commands
• C++
  • Data
    • Gad
    • GadPosition
    • GadVelocity
    • GadAttitude
    • GadHeading
    • GadSpeed
  • GadHandler
    • OxTS::Gal_Cpp::GadHandler
  • Encoding
    • OxTS::Gal_Cpp::GadEncoder
    • OxTS::Gal_Cpp::GadEncoderBin
    • OxTS::Gal_Cpp::GadEncoderCsv
• Python API