ErrorModel.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 "Navigation/INS/Units.hpp"
#include "NodeData/GNSS/GnssObs.hpp"
#include "NodeData/IMU/ImuObs.hpp"
#include "NodeData/IMU/ImuObsWDelta.hpp"
#include "NodeData/State/PosVelAtt.hpp"
 
#include "util/Random/RandomNumberGenerator.hpp"
 
#include "util/Eigen.hpp"
#include <random>
#include <map>
 
namespace NAV
{
class ErrorModel : public Node
{
  public:
    ErrorModel();
    ~ErrorModel() override;
    ErrorModel(const ErrorModel&) = delete;
    ErrorModel(ErrorModel&&) = delete;
    ErrorModel& operator=(const ErrorModel&) = delete;
    ErrorModel& operator=(ErrorModel&&) = 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 OUTPUT_PORT_INDEX_FLOW = 0; 
    constexpr static size_t INPUT_PORT_INDEX_FLOW = 0;  

    enum class InputType : uint8_t
    {
        None,         
        ImuObs,       
        ImuObsWDelta, 
        PosVelAtt,    
        GnssObs,      
    };

    InputType _inputType = InputType::None;

    bool resetNode() override;

    void afterCreateLink(OutputPin& startPin, InputPin& endPin) override;

    void afterDeleteLink(OutputPin& startPin, InputPin& endPin) override;

    void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx);

    std::shared_ptr<ImuObs> receiveImuObs(const std::shared_ptr<ImuObs>& imuObs,
                                          const Eigen::Vector3d& accelerometerBias_p,
                                          const Eigen::Vector3d& gyroscopeBias_p,
                                          const Eigen::Vector3d& accelerometerNoiseStd,
                                          const Eigen::Vector3d& gyroscopeNoiseStd);

    [[nodiscard]] std::shared_ptr<ImuObsWDelta> receiveImuObsWDelta(const std::shared_ptr<ImuObsWDelta>& imuObs,
                                                                    const Eigen::Vector3d& accelerometerBias_p,
                                                                    const Eigen::Vector3d& gyroscopeBias_p,
                                                                    const Eigen::Vector3d& accelerometerNoiseStd,
                                                                    const Eigen::Vector3d& gyroscopeNoiseStd);

    [[nodiscard]] std::shared_ptr<PosVelAtt> receivePosVelAtt(const std::shared_ptr<PosVelAtt>& posVelAtt);

    [[nodiscard]] std::shared_ptr<GnssObs> receiveGnssObs(const std::shared_ptr<GnssObs>& gnssObs);

    InsTime _lastObservationTime;
    double _dt = 0.0;
 
    // #########################################################################################################################################
    //                                                                 ImuObs
    // #########################################################################################################################################
    //
    Eigen::Vector3d _randomWalkAccelerometer = Eigen::Vector3d::Zero();

    Eigen::Vector3d _randomWalkGyroscope = Eigen::Vector3d::Zero();

    Eigen::Vector3d _integratedRandomWalkAccelerometer_velocity = Eigen::Vector3d::Zero();

    Eigen::Vector3d _integratedRandomWalkAccelerometer = Eigen::Vector3d::Zero();

    Eigen::Vector3d _integratedRandomWalkGyroscope_velocity = Eigen::Vector3d::Zero();

    Eigen::Vector3d _integratedRandomWalkGyroscope = Eigen::Vector3d::Zero();
 
    // --------------------------------------------------------------- Offset ------------------------------------------------------------------

    Units::ImuAccelerometerUnits _imuAccelerometerBiasUnit = Units::ImuAccelerometerUnits::m_s2;
    Eigen::Vector3d _imuAccelerometerBias_p = Eigen::Vector3d::Zero();

    Units::ImuGyroscopeUnits _imuGyroscopeBiasUnit = Units::ImuGyroscopeUnits::rad_s;
    Eigen::Vector3d _imuGyroscopeBias_p = Eigen::Vector3d::Zero();
 
    // ---------------------------------------------------------------- Noise ------------------------------------------------------------------

    Units::ImuAccelerometerNoiseUnits _imuAccelerometerNoiseUnit = Units::ImuAccelerometerNoiseUnits::m_s2_sqrts;
    Eigen::Vector3d _imuAccelerometerNoise = Eigen::Vector3d::Zero();
    RandomNumberGenerator _imuAccelerometerRng;

    Units::ImuGyroscopeNoiseUnits _imuGyroscopeNoiseUnit = Units::ImuGyroscopeNoiseUnits::rad_s_sqrts;
    Eigen::Vector3d _imuGyroscopeNoise = Eigen::Vector3d::Zero();
    RandomNumberGenerator _imuGyroscopeRng;

    Units::ImuAccelerometerNoiseUnits _imuAccelerometerRWUnit = Units::ImuAccelerometerNoiseUnits::m_s2_sqrts;
    Eigen::Vector3d _imuAccelerometerRW = Eigen::Vector3d::Zero();
    RandomNumberGenerator _imuAccelerometerRWRng;

    Units::ImuGyroscopeNoiseUnits _imuGyroscopeRWUnit = Units::ImuGyroscopeNoiseUnits::rad_s_sqrts;
    Eigen::Vector3d _imuGyroscopeRW = Eigen::Vector3d::Zero();
    RandomNumberGenerator _imuGyroscopeRWRng;

    Units::ImuAccelerometerIRWUnits _imuAccelerometerIRWUnit = Units::ImuAccelerometerIRWUnits::m_s3_sqrts;
    Eigen::Vector3d _imuAccelerometerIRW = Eigen::Vector3d::Zero();
    RandomNumberGenerator _imuAccelerometerIRWRng;

    Units::ImuGyroscopeIRWUnits _imuGyroscopeIRWUnit = Units::ImuGyroscopeIRWUnits::rad_s2_sqrts;
    Eigen::Vector3d _imuGyroscopeIRW = Eigen::Vector3d::Zero();
    RandomNumberGenerator _imuGyroscopeIRWRng;
 
    // #########################################################################################################################################
    //                                                                PosVelAtt
    // #########################################################################################################################################
 
    // --------------------------------------------------------------- Offset ------------------------------------------------------------------

    enum class PositionBiasUnits : uint8_t
    {
        meter, 
    };

    PositionBiasUnits _positionBiasUnit = PositionBiasUnits::meter;
    Eigen::Vector3d _positionBias = Eigen::Vector3d::Zero();

    enum class VelocityBiasUnits : uint8_t
    {
        m_s, 
    };

    VelocityBiasUnits _velocityBiasUnit = VelocityBiasUnits::m_s;
    Eigen::Vector3d _velocityBias = Eigen::Vector3d::Zero();

    enum class AttitudeBiasUnits : uint8_t
    {
        rad, 
        deg, 
    };

    AttitudeBiasUnits _attitudeBiasUnit = AttitudeBiasUnits::deg;
    Eigen::Vector3d _attitudeBias = Eigen::Vector3d::Zero();
 
    // ---------------------------------------------------------------- Noise ------------------------------------------------------------------

    enum class PositionNoiseUnits : uint8_t
    {
        meter,  
        meter2, 
    };

    PositionNoiseUnits _positionNoiseUnit = PositionNoiseUnits::meter;
    Eigen::Vector3d _positionNoise = Eigen::Vector3d::Zero();
    RandomNumberGenerator _positionRng;
    enum class VelocityNoiseUnits : uint8_t
    {
        m_s,   
        m2_s2, 
    };

    VelocityNoiseUnits _velocityNoiseUnit = VelocityNoiseUnits::m_s;
    Eigen::Vector3d _velocityNoise = Eigen::Vector3d::Zero();
    RandomNumberGenerator _velocityRng;

    enum class AttitudeNoiseUnits : uint8_t
    {
        rad,  
        deg,  
        rad2, 
        deg2, 
    };

    AttitudeNoiseUnits _attitudeNoiseUnit = AttitudeNoiseUnits::deg;
    Eigen::Vector3d _attitudeNoise = Eigen::Vector3d::Zero();
    RandomNumberGenerator _attitudeRng;
 
    // #########################################################################################################################################
    //                                                                GnssObs
    // #########################################################################################################################################
 
    // ---------------------------------------------------------------- Noise ------------------------------------------------------------------

    enum class PseudorangeNoiseUnits : uint8_t
    {
        meter, 
    };

    PseudorangeNoiseUnits _gui_pseudorangeNoiseUnit = PseudorangeNoiseUnits::meter;
    double _gui_pseudorangeNoise{ 0.3 };
    RandomNumberGenerator _pseudorangeRng;

    enum class CarrierPhaseNoiseUnits : uint8_t
    {
        meter, 
    };

    CarrierPhaseNoiseUnits _gui_carrierPhaseNoiseUnit = CarrierPhaseNoiseUnits::meter;
    double _gui_carrierPhaseNoise{ 0.003 };
    RandomNumberGenerator _carrierPhaseRng;

    enum class DopplerNoiseUnits : uint8_t
    {
        m_s, 
    };

    DopplerNoiseUnits _gui_dopplerNoiseUnit = DopplerNoiseUnits::m_s;
    double _gui_dopplerNoise{ 0.05 };
    RandomNumberGenerator _dopplerRng;
 
    // -------------------------------------------------------------- Ambiguity ----------------------------------------------------------------

    std::array<int, 2> _gui_ambiguityLimits = { { -20, 20 } };
    RandomNumberGenerator _ambiguityRng;
    std::map<SatSigId, std::vector<std::pair<InsTime, int>>> _ambiguities;
 
    // ------------------------------------------------------------- Cycle-slip ----------------------------------------------------------------

    enum class CycleSlipFrequencyUnits : uint8_t
    {
        per_day,    
        per_hour,   
        per_minute, 
    };

    CycleSlipFrequencyUnits _gui_cycleSlipFrequencyUnit = CycleSlipFrequencyUnits::per_hour;
    double _gui_cycleSlipFrequency{ 0.0 };
    int _gui_cycleSlipRange = 20;
    InsTime _cycleSlipWindowStartTime;

    enum class CycleSlipDetectionProbabilityUnits : uint8_t
    {
        percent, 
    };

    CycleSlipDetectionProbabilityUnits _gui_cycleSlipDetectionProbabilityUnit = CycleSlipDetectionProbabilityUnits::percent;
    double _gui_cycleSlipDetectionProbability{ 100.0 };

    RandomNumberGenerator _cycleSlipRng;

    struct CycleSlipInfo
    {
        InsTime time;      
        SatSigId satSigId; 
        bool LLI;          
    };

    std::vector<CycleSlipInfo> _cycleSlips;

    Frequency _filterFreq = G01;
    Code _filterCode = Code_Default;
};
 
} // namespace NAV