AllanDeviation.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "util/Eigen.hpp"
#include <array>
#include <cstdint>
#include <mutex>
#include <vector>
 
namespace NAV
{
class AllanDeviation : public Node
{
  public:
    AllanDeviation();
    ~AllanDeviation() override;
    AllanDeviation(const AllanDeviation&) = delete;
    AllanDeviation(AllanDeviation&&) = delete;
    AllanDeviation& operator=(const AllanDeviation&) = delete;
    AllanDeviation& operator=(AllanDeviation&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
  private:
    constexpr static size_t INPUT_PORT_INDEX_IMU_OBS = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void receiveImuObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    // ------------------------------------------------------------ Algorithm --------------------------------------------------------------
 
    enum SensorType : uint8_t
    {
        Accel,            
        Gyro,             
        SensorType_COUNT, 
    };
 
    struct Sensor
    {
        std::vector<Eigen::Vector3d> cumSum{ Eigen::Vector3d::Zero() };
 
        std::array<std::vector<double>, 3> allanSum{};
 
        std::array<std::vector<double>, 3> allanVariance{};
 
        std::array<std::vector<double>, 3> allanDeviation{};
 
        std::array<std::vector<double>, 3> slope{};
 
        std::array<std::array<std::vector<double>, 2>, 3> allanDeviationConfidenceIntervals{};
 
        std::mutex mutex;
    };
 
    std::array<Sensor, SensorType_COUNT> _sensors;
 
    double _samplingInterval = 0.0;
 
    InsTime _startingInsTime;
 
    std::vector<double> _averagingFactors;
 
    std::vector<double> _averagingTimes;
 
    std::vector<double> _observationCount;
 
    unsigned int _imuObsCount{ 0 };
 
    double _averagingFactorsPerDecade{ 100 };
 
    unsigned int _nextAveragingFactor{ 1 };
 
    unsigned int _nextAveragingFactorExponent{ 1 };
 
    std::vector<double> _confidenceMultiplicationFactor;
 
    bool _displayConfidence{ false };
    float _confidenceFillAlpha{ 0.4F };
    bool _updateLast{ false };
 
    static const char* to_string(SensorType sensorType);
 
    static const char* unitString(SensorType sensorType);
};
 
} // namespace NAV