Virtual State Blocks

Virtual State Blocks (VSBs) are a kind of alias for State Blocks (SBs). They convert between the State Block’s internal state representation and another. The most common types of conversions are:

1. Conversions between reference frames

2. Conversions between error states and whole states

VSBs might just be used to get the filter solution in the desired form. They’re often used to bridge the gap between the states a Measurement Processor wants to update and what a State Block actually provides.

VSBs are great for proof of concept and systems where performance has some wiggle room. It is almost always more performant to write sets of SBs and MPs that work directly together, though.