Long distance limitations in Navigation Toolbox filters

I see that the Navigation Toolbox has a number of options for generating sensor fusion navigation filters as C/C++ code. But they all seem to accept a reference frame type of NED or ENU. If this was applied to aviation applications with long travel distances, there might be a maximum limit to how far the aircraft can travel from that initial position? What type of earth models are supported in the filter equations--round, WGS84, custom, geoid, etc)?

Answer 1

[Brian Fanous]

The ecompass, imufilter, ahrsfilter, and complementaryFilter are orientation-only so this doesn't come into play much except that the filters using magnetometer navigate to magnetic north, not true north.

The insfilters (insfilterMARG, insfilterNonholonomic, etc) use WGS84 under the hood. That said, they are intended for relatively local travel; things like the effect of the earth's rotation and the variation of the earth's geomagnetic vector are not taken into account.

The insEKF is really more of a framework. You can provide custom motion models and sensors to do whatever you need but the shipping motion models and sensor models are more in line with the insfilter approach of localized travel.

[Benjamin Thompson]

Ok thanks!