InsGnssTCKFSolution.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/.
 
/// @file InsGnssTCKFSolution.hpp
/// @brief Tightly-coupled Kalman Filter INS/GNSS errors
/// @author M. Maier (marcel.maier@ins.uni-stuttgart.de)
/// @date 2023-02-24
 
#pragma once
 
#include "InsGnssLCKFSolution.hpp"
 
namespace NAV
{
/// Tightly-coupled Kalman Filter INS/GNSS errors
class InsGnssTCKFSolution : public InsGnssLCKFSolution
{
  public:
    /// @brief Returns the type of the data class
    /// @return The data type
    [[nodiscard]] static std::string type()
    {
        return "InsGnssTCKFSolution";
    }
 
    /// @brief Returns the type of the data class
    /// @return The data type
    [[nodiscard]] std::string getType() const override { return type(); }
 
    /// @brief Returns the parent types of the data class
    /// @return The parent data types
    [[nodiscard]] static std::vector<std::string> parentTypes()
    {
        auto parent = InsGnssLCKFSolution::parentTypes();
        parent.push_back(InsGnssLCKFSolution::type());
        return parent;
    }
 
    /// @brief Returns a vector of data descriptors
    [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors()
    {
        auto desc = InsGnssLCKFSolution::GetStaticDataDescriptors();
        desc.reserve(GetStaticDescriptorCount());
        desc.emplace_back("Receiver clock offset [m]");
        desc.emplace_back("Receiver clock drift [m/s]");
        desc.emplace_back("Receiver clock offset [s]");
        desc.emplace_back("Receiver clock drift [s/s]");
        return desc;
    }
 
    /// @brief Get the amount of descriptors
    [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return InsGnssLCKFSolution::GetStaticDescriptorCount() + 4; }
 
    /// @brief Returns a vector of data descriptors
    [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); }
 
    /// @brief Get the amount of descriptors
    [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); }
 
    /// @brief Get the value at the index
    /// @param idx Index corresponding to data descriptor order
    /// @return Value if in the observation
    [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override
    {
        INS_ASSERT(idx < GetStaticDescriptorCount());
        if (idx < InsGnssLCKFSolution::GetStaticDescriptorCount()) { return InsGnssLCKFSolution::getValueAt(idx); }
        switch (idx)
        {
        case InsGnssLCKFSolution::GetStaticDescriptorCount() + 0: // Receiver clock offset [m]
            return recvClkOffset;
        case InsGnssLCKFSolution::GetStaticDescriptorCount() + 1: // Receiver clock drift [m/s]
            return recvClkDrift;
        case InsGnssLCKFSolution::GetStaticDescriptorCount() + 2: // Receiver clock offset [s]
            return recvClkOffset / InsConst::C;
        case InsGnssLCKFSolution::GetStaticDescriptorCount() + 3: // Receiver clock drift [s/s]
            return recvClkDrift / InsConst::C;
        default:
            return std::nullopt;
        }
    }
 
    /// δϱ The receiver clock offset in [m]
    double recvClkOffset{};
 
    /// δϱ_dot The receiver clock drift in [m/s]
    double recvClkDrift{};
};
 
} // namespace NAV