PinData.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 "util/Eigen.hpp"
 
namespace NAV
{
 
struct PinData
{
    // ------------------------------------- State and variance units ----------------------------------------
    enum class AngRateUnit
    {
        deg_s, 
        rad_s, 
    };
 
    enum class AccelerationUnit
    {
        m_s2, 
    };
 
    enum class AngRateVarianceUnit
    {
        rad2_s2, 
        rad_s,   
        deg2_s2, 
        deg_s,   
    };
 
    enum class AccelerationVarianceUnit
    {
        m2_s4, 
        m_s2,  
    };
 
    // ---------------------------------------- Unit initialization ------------------------------------------
 
    AngRateUnit initAngularRateBiasUnit = AngRateUnit::deg_s;
    AccelerationUnit initAccelerationBiasUnit = AccelerationUnit::m_s2;
 
    AngRateVarianceUnit initCovarianceAngularRateUnit = AngRateVarianceUnit::deg_s;
    AccelerationVarianceUnit initCovarianceAccelerationUnit = AccelerationVarianceUnit::m_s2;
    AngRateVarianceUnit initCovarianceBiasAngRateUnit = AngRateVarianceUnit::deg_s;
    AccelerationVarianceUnit initCovarianceBiasAccUnit = AccelerationVarianceUnit::m_s2;
    AngRateVarianceUnit varBiasAngRateNoiseUnit = AngRateVarianceUnit::deg_s;
    AccelerationVarianceUnit varBiasAccelerationNoiseUnit = AccelerationVarianceUnit::m_s2;
    AngRateVarianceUnit measurementUncertaintyAngularRateUnit = AngRateVarianceUnit::deg_s;
    AccelerationVarianceUnit measurementUncertaintyAccelerationUnit = AccelerationVarianceUnit::m_s2;
 
    // --------------------------------------- State initialization ------------------------------------------
 
    Eigen::Vector3d initAngularRateBias{ 0.0, 0.0, 0.0 };
    Eigen::Vector3d initAccelerationBias{ 0.0, 0.0, 0.0 };
 
    Eigen::Vector3d initCovarianceAngularRate{ 1.0, 1.0, 1.0 };
    Eigen::Vector3d initCovarianceAcceleration{ 0.1, 0.1, 0.1 };
    Eigen::Vector3d initCovarianceBiasAngRate{ 1.0, 1.0, 1.0 };
    Eigen::Vector3d initCovarianceBiasAcc{ 0.1, 0.1, 0.1 };
    Eigen::Vector3d varBiasAngRateNoise = { 1.0, 1.0, 1.0 };
    Eigen::Vector3d varBiasAccelerationNoise{ 0.1, 0.1, 0.1 };
    Eigen::Vector3d measurementUncertaintyAngularRate{ 1.0, 1.0, 1.0 };
    Eigen::Vector3d measurementUncertaintyAcceleration{ 0.1, 0.1, 0.1 };
};
 
struct PinDataIRWKF
{
    // ----------------------------------- State and variance units --------------------------------------
    enum class AngularAccUnit
    {
        deg_s2, 
        rad_s2, 
    };
    enum class JerkUnit
    {
        m_s3, 
    };
 
    enum class AngularAccVarianceUnit
    {
        rad2_s4, 
        rad_s2,  
        deg2_s4, 
        deg_s2,  
    };
    enum class JerkVarianceUnit
    {
        m2_s6, 
        m_s3,  
    };
 
    // -------------------------------------- Unit initialization ----------------------------------------
 
    PinData::AngRateUnit initAngularRateUnit = PinData::AngRateUnit::deg_s;
    AngularAccUnit initAngularAccUnit = AngularAccUnit::deg_s2;
    PinData::AccelerationUnit initAccelerationUnit = PinData::AccelerationUnit::m_s2;
    JerkUnit initJerkUnit = JerkUnit::m_s3;
 
    AngularAccVarianceUnit initCovarianceAngularAccUnit = AngularAccVarianceUnit::deg_s2;
    JerkVarianceUnit initCovarianceJerkUnit = JerkVarianceUnit::m_s3;
 
    AngularAccVarianceUnit varAngularAccNoiseUnit = AngularAccVarianceUnit::deg_s2;
    JerkVarianceUnit varJerkNoiseUnit = JerkVarianceUnit::m_s3;
 
    // ------------------------------------- State initialization ----------------------------------------
 
    Eigen::Vector3d initAngularRate{ 0.0, 0.0, 0.0 };
    Eigen::Vector3d initAngularAcc{ 0.0, 0.0, 0.0 };
    Eigen::Vector3d initAcceleration{ 0.0, 0.0, 0.0 };
    Eigen::Vector3d initJerk{ 0.0, 0.0, 0.0 };
 
    Eigen::Vector3d initCovarianceAngularAcc{ 0.1, 0.1, 0.1 };
    Eigen::Vector3d initCovarianceJerk{ 0.1, 0.1, 0.1 };
 
    Eigen::Vector3d varAngularAccNoise{ 0.1, 0.1, 0.1 };
    Eigen::Vector3d varJerkNoise{ 0.1, 0.1, 0.1 };
};
 
struct PinDataBsplineKF
{
    // -------------------------------------- Unit initialization ----------------------------------------
 
    PinData::AngRateUnit initCoeffsAngularRateUnit = PinData::AngRateUnit::deg_s;
    PinData::AccelerationUnit initCoeffsAccelUnit = PinData::AccelerationUnit::m_s2;
 
    PinData::AngRateVarianceUnit initCovarianceCoeffsAngRateUnit = PinData::AngRateVarianceUnit::deg_s;
    PinData::AccelerationVarianceUnit initCovarianceCoeffsAccelUnit = PinData::AccelerationVarianceUnit::m_s2;
 
    PinData::AngRateVarianceUnit varCoeffsAngRateUnit = PinData::AngRateVarianceUnit::deg_s;
    PinData::AccelerationVarianceUnit varCoeffsAccelUnit = PinData::AccelerationVarianceUnit::m_s2;
 
    // ------------------------------------- State initialization ----------------------------------------
 
    Eigen::VectorXd initCoeffsAngRate = Eigen::VectorXd::Zero(9);
    Eigen::VectorXd initCoeffsAccel = Eigen::VectorXd::Zero(9);
 
    Eigen::VectorXd initCovarianceCoeffsAngRate = Eigen::VectorXd::Ones(9);
    Eigen::VectorXd initCovarianceCoeffsAccel = Eigen::VectorXd::Ones(9);
 
    Eigen::VectorXd varCoeffsAngRateNoise = Eigen::VectorXd::Ones(9) * 0.1;
    Eigen::VectorXd varCoeffsAccelNoise = Eigen::VectorXd::Ones(9) * 0.1;
};
} // namespace NAV