km3modules.ahrs
¶
AHRS calibration.
Module Contents¶
Classes¶
AHRSCalibrator () |
Calculates AHRS yaw, pitch and roll from median A and H of an interval. |
Functions¶
fit_ahrs (A, H, Aoff, Arot, Hoff, Hrot) |
Calculate yaw, pitch and roll for given A/H and calibration set. |
get_latest_ahrs_calibration (clb_upi, max_version=3, db=None) |
Retrieve the latest AHRS calibration data for a given CLB |
_extract_calibration (xroot) |
Extract AHRS calibration information from XML root. |
-
class
km3modules.ahrs.
AHRSCalibrator
[source]¶ Bases:
km3pipe.Module
Calculates AHRS yaw, pitch and roll from median A and H of an interval.
-
km3modules.ahrs.
fit_ahrs
(A, H, Aoff, Arot, Hoff, Hrot)[source]¶ Calculate yaw, pitch and roll for given A/H and calibration set.
Author: Vladimir Kulikovsky
Parameters: - A: list, tuple or numpy.array of shape (3,)
- H: list, tuple or numpy.array of shape (3,)
- Aoff: numpy.array of shape(3,)
- Arot: numpy.array of shape(3, 3)
- Hoff: numpy.array of shape(3,)
- Hrot: numpy.array of shape(3, 3)
Returns: - yaw, pitch, roll
-
km3modules.ahrs.
get_latest_ahrs_calibration
(clb_upi, max_version=3, db=None)[source]¶ Retrieve the latest AHRS calibration data for a given CLB
Parameters: - clb_upi: str
- max_version: int, maximum version to check, optional
- db: DBManager(), optional
Returns: - Aoff: numpy.array with shape(3,)
- Arot: numpy.array with shape(3,3)
- Hoff: numpy.array with shape(3,)
- Hrot: numpy.array with shape(3,3)
- or None if no calibration found.