Validate.cpp

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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 Validate.cpp
/// @brief Ambiguity resolution validation algorithms
/// @author T. Topp (topp@ins.uni-stuttgart.de)
/// @date 2023-10-06
 
#include <vector>
#include <unordered_map>
 
#include "Validate.hpp"
 
namespace NAV::Ambiguity
{
 
// NOLINTBEGIN
 
// Look-up table for critical values µ depending on failure rate
// First column is Pf, then each value corresponds to the number of ambiguities, starting with 2, 3, 4, ...
// Tables are taken from https://www.tudelft.nl/citg/over-faculteit/afdelingen/geoscience-remote-sensing/research/lambda/lambda
std::unordered_map<double, std::vector<std::vector<double>>> lookupTableFailureProbability = {
    { 0.001, /* 0.1 % */ {
          { 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },
          { 0.001, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },
          { 0.0012, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.97, 0.97, 0.97, 0.98, 0.98, 0.98, 0.98, 0.98, 0.98, 0.98, 0.98, 0.98, 0.98, 0.98, 0.98, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99, 0.99 },
          { 0.0015, 0.87, 0.87, 0.88, 0.88, 0.89, 0.89, 0.89, 0.89, 0.91, 0.92, 0.92, 0.92, 0.92, 0.93, 0.93, 0.93, 0.93, 0.93, 0.93, 0.93, 0.93, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.96, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97, 0.97 },
          { 0.002, 0.78, 0.78, 0.8, 0.8, 0.81, 0.82, 0.83, 0.84, 0.84, 0.86, 0.86, 0.86, 0.87, 0.88, 0.88, 0.88, 0.89, 0.89, 0.9, 0.9, 0.9, 0.9, 0.9, 0.9, 0.91, 0.91, 0.91, 0.92, 0.92, 0.92, 0.92, 0.93, 0.93, 0.93, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.94, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.95, 0.96 },
          { 0.005, 0.54, 0.54, 0.57, 0.57, 0.59, 0.64, 0.64, 0.68, 0.68, 0.69, 0.71, 0.72, 0.73, 0.74, 0.75, 0.75, 0.77, 0.78, 0.8, 0.8, 0.8, 0.8, 0.8, 0.81, 0.82, 0.82, 0.82, 0.84, 0.84, 0.84, 0.84, 0.85, 0.85, 0.86, 0.86, 0.86, 0.86, 0.87, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.89, 0.89, 0.89, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91, 0.91 },
          { 0.01, 0.36, 0.38, 0.41, 0.43, 0.45, 0.51, 0.52, 0.57, 0.57, 0.59, 0.61, 0.62, 0.64, 0.65, 0.67, 0.67, 0.68, 0.69, 0.72, 0.72, 0.72, 0.72, 0.72, 0.74, 0.76, 0.76, 0.77, 0.79, 0.79, 0.79, 0.79, 0.81, 0.81, 0.82, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.85, 0.85, 0.85, 0.85, 0.85, 0.85, 0.85, 0.85, 0.85, 0.87, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88, 0.88 },
          { 0.015, 0.27, 0.29, 0.32, 0.36, 0.38, 0.43, 0.46, 0.51, 0.52, 0.53, 0.55, 0.56, 0.58, 0.6, 0.62, 0.62, 0.64, 0.65, 0.67, 0.67, 0.69, 0.69, 0.69, 0.71, 0.74, 0.74, 0.74, 0.76, 0.76, 0.76, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.82, 0.82, 0.83, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85, 0.85, 0.86, 0.86, 0.86, 0.86, 0.86, 0.86, 0.86, 0.87, 0.87, 0.87, 0.88 },
          { 0.02, 0.21, 0.24, 0.27, 0.3, 0.33, 0.38, 0.42, 0.46, 0.48, 0.49, 0.52, 0.52, 0.55, 0.57, 0.59, 0.59, 0.62, 0.62, 0.65, 0.65, 0.67, 0.67, 0.67, 0.7, 0.72, 0.72, 0.72, 0.74, 0.75, 0.75, 0.75, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.79, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.83, 0.83, 0.83, 0.84, 0.84, 0.84, 0.85, 0.85, 0.85, 0.85, 0.85, 0.85, 0.86, 0.86, 0.86, 0.87 },
          { 0.025, 0.19, 0.22, 0.24, 0.27, 0.29, 0.35, 0.39, 0.42, 0.45, 0.46, 0.49, 0.49, 0.53, 0.54, 0.56, 0.56, 0.6, 0.6, 0.63, 0.64, 0.65, 0.66, 0.66, 0.68, 0.71, 0.71, 0.71, 0.72, 0.72, 0.73, 0.74, 0.75, 0.75, 0.77, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.83, 0.83, 0.83, 0.83, 0.83, 0.84, 0.84, 0.85, 0.85, 0.85, 0.85, 0.86, 0.86, 0.86, 0.87 },
          { 0.03, 0.17, 0.2, 0.22, 0.24, 0.26, 0.32, 0.35, 0.4, 0.42, 0.44, 0.47, 0.47, 0.51, 0.53, 0.54, 0.55, 0.58, 0.59, 0.62, 0.62, 0.64, 0.65, 0.65, 0.67, 0.7, 0.7, 0.7, 0.71, 0.71, 0.72, 0.73, 0.74, 0.75, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.85, 0.85, 0.85, 0.85, 0.86, 0.86, 0.86 },
          { 0.035, 0.16, 0.18, 0.2, 0.22, 0.24, 0.3, 0.33, 0.38, 0.4, 0.42, 0.45, 0.45, 0.49, 0.51, 0.53, 0.54, 0.57, 0.58, 0.61, 0.61, 0.63, 0.64, 0.65, 0.66, 0.69, 0.69, 0.69, 0.71, 0.71, 0.72, 0.72, 0.74, 0.74, 0.75, 0.75, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.79, 0.8, 0.81, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.85, 0.85, 0.85, 0.85, 0.86, 0.86 },
          { 0.04, 0.15, 0.17, 0.18, 0.21, 0.22, 0.27, 0.31, 0.36, 0.39, 0.4, 0.44, 0.44, 0.48, 0.5, 0.52, 0.53, 0.56, 0.56, 0.6, 0.61, 0.62, 0.64, 0.65, 0.66, 0.68, 0.69, 0.69, 0.7, 0.71, 0.71, 0.71, 0.73, 0.74, 0.74, 0.75, 0.75, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.79, 0.8, 0.81, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.84, 0.84, 0.84, 0.85, 0.85, 0.85, 0.85, 0.85, 0.86 },
          { 0.045, 0.14, 0.16, 0.17, 0.19, 0.21, 0.26, 0.29, 0.34, 0.38, 0.39, 0.43, 0.44, 0.48, 0.49, 0.51, 0.52, 0.56, 0.56, 0.59, 0.6, 0.61, 0.63, 0.65, 0.65, 0.67, 0.68, 0.68, 0.7, 0.71, 0.71, 0.71, 0.73, 0.73, 0.74, 0.74, 0.75, 0.75, 0.76, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85, 0.85, 0.86 },
          { 0.05, 0.13, 0.15, 0.16, 0.18, 0.19, 0.24, 0.28, 0.32, 0.37, 0.39, 0.42, 0.43, 0.47, 0.48, 0.51, 0.52, 0.55, 0.55, 0.59, 0.6, 0.61, 0.63, 0.64, 0.64, 0.67, 0.68, 0.68, 0.69, 0.71, 0.71, 0.71, 0.72, 0.73, 0.74, 0.74, 0.75, 0.75, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.79, 0.79, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85, 0.86 },
          { 0.055, 0.12, 0.14, 0.15, 0.17, 0.18, 0.23, 0.27, 0.31, 0.36, 0.38, 0.41, 0.42, 0.46, 0.48, 0.5, 0.51, 0.54, 0.55, 0.58, 0.59, 0.6, 0.62, 0.64, 0.64, 0.66, 0.67, 0.68, 0.69, 0.7, 0.7, 0.7, 0.72, 0.73, 0.73, 0.74, 0.75, 0.75, 0.75, 0.76, 0.77, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85, 0.86 },
          { 0.06, 0.12, 0.13, 0.15, 0.16, 0.17, 0.21, 0.26, 0.3, 0.36, 0.37, 0.4, 0.42, 0.46, 0.47, 0.5, 0.51, 0.54, 0.54, 0.58, 0.59, 0.6, 0.62, 0.63, 0.63, 0.66, 0.67, 0.67, 0.69, 0.7, 0.7, 0.7, 0.71, 0.72, 0.73, 0.74, 0.74, 0.75, 0.75, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85, 0.86 },
          { 0.065, 0.11, 0.12, 0.14, 0.15, 0.16, 0.2, 0.26, 0.3, 0.35, 0.36, 0.4, 0.41, 0.45, 0.46, 0.5, 0.51, 0.53, 0.54, 0.58, 0.59, 0.59, 0.61, 0.63, 0.63, 0.66, 0.67, 0.67, 0.68, 0.7, 0.7, 0.7, 0.71, 0.72, 0.73, 0.73, 0.74, 0.75, 0.75, 0.76, 0.76, 0.77, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85, 0.85 },
          { 0.07, 0.11, 0.12, 0.13, 0.14, 0.15, 0.2, 0.25, 0.3, 0.35, 0.36, 0.39, 0.41, 0.45, 0.46, 0.49, 0.5, 0.53, 0.54, 0.58, 0.58, 0.59, 0.61, 0.63, 0.63, 0.66, 0.66, 0.67, 0.68, 0.69, 0.69, 0.7, 0.71, 0.72, 0.73, 0.73, 0.74, 0.74, 0.75, 0.76, 0.76, 0.77, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.85, 0.85 },
          { 0.075, 0.1, 0.11, 0.12, 0.13, 0.15, 0.19, 0.24, 0.29, 0.34, 0.36, 0.39, 0.41, 0.44, 0.45, 0.49, 0.5, 0.52, 0.54, 0.57, 0.58, 0.59, 0.61, 0.63, 0.63, 0.65, 0.66, 0.67, 0.68, 0.69, 0.69, 0.69, 0.71, 0.72, 0.73, 0.73, 0.74, 0.74, 0.75, 0.76, 0.76, 0.77, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.8, 0.8, 0.8, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85 },
          { 0.08, 0.1, 0.1, 0.12, 0.13, 0.14, 0.19, 0.23, 0.29, 0.34, 0.35, 0.38, 0.4, 0.44, 0.45, 0.49, 0.5, 0.52, 0.53, 0.57, 0.58, 0.59, 0.61, 0.62, 0.62, 0.65, 0.66, 0.67, 0.68, 0.69, 0.69, 0.69, 0.71, 0.72, 0.73, 0.73, 0.74, 0.74, 0.75, 0.76, 0.76, 0.76, 0.77, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.8, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84, 0.84, 0.84, 0.84, 0.84, 0.85 },
          { 0.085, 0.1, 0.1, 0.11, 0.12, 0.14, 0.18, 0.23, 0.28, 0.33, 0.35, 0.38, 0.4, 0.44, 0.45, 0.49, 0.5, 0.51, 0.53, 0.57, 0.58, 0.59, 0.61, 0.62, 0.62, 0.65, 0.66, 0.67, 0.68, 0.68, 0.69, 0.69, 0.71, 0.72, 0.73, 0.73, 0.74, 0.74, 0.75, 0.76, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.8, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.83, 0.83, 0.83, 0.84, 0.84, 0.85 },
          { 0.09, 0.09, 0.09, 0.11, 0.12, 0.13, 0.18, 0.22, 0.28, 0.33, 0.35, 0.38, 0.4, 0.43, 0.45, 0.49, 0.5, 0.51, 0.53, 0.56, 0.58, 0.59, 0.61, 0.62, 0.62, 0.65, 0.66, 0.66, 0.67, 0.67, 0.69, 0.69, 0.71, 0.71, 0.73, 0.73, 0.73, 0.74, 0.75, 0.76, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.8, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.83, 0.83, 0.84, 0.84, 0.85 },
          { 0.095, 0.09, 0.09, 0.1, 0.11, 0.13, 0.18, 0.22, 0.28, 0.33, 0.34, 0.38, 0.4, 0.43, 0.45, 0.48, 0.49, 0.51, 0.53, 0.56, 0.57, 0.59, 0.61, 0.62, 0.62, 0.65, 0.65, 0.66, 0.67, 0.67, 0.68, 0.69, 0.71, 0.71, 0.72, 0.73, 0.73, 0.74, 0.75, 0.75, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.8, 0.81, 0.81, 0.82, 0.82, 0.82, 0.82, 0.83, 0.83, 0.83, 0.84, 0.84, 0.85 },
          { 0.1, 0.09, 0.09, 0.1, 0.11, 0.12, 0.17, 0.22, 0.27, 0.32, 0.34, 0.37, 0.4, 0.43, 0.44, 0.48, 0.49, 0.51, 0.53, 0.56, 0.57, 0.58, 0.61, 0.62, 0.62, 0.64, 0.65, 0.66, 0.67, 0.67, 0.68, 0.69, 0.71, 0.71, 0.72, 0.73, 0.73, 0.74, 0.75, 0.75, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.8, 0.81, 0.81, 0.82, 0.82, 0.82, 0.82, 0.83, 0.83, 0.83, 0.83, 0.84, 0.85 },
          { 0.12, 0.08, 0.08, 0.09, 0.09, 0.11, 0.16, 0.21, 0.26, 0.31, 0.33, 0.37, 0.39, 0.42, 0.44, 0.48, 0.49, 0.51, 0.53, 0.55, 0.57, 0.58, 0.6, 0.61, 0.61, 0.64, 0.64, 0.66, 0.67, 0.67, 0.68, 0.68, 0.7, 0.71, 0.72, 0.72, 0.73, 0.74, 0.74, 0.75, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.83, 0.83, 0.84, 0.84 },
          { 0.15, 0.07, 0.07, 0.08, 0.08, 0.1, 0.16, 0.2, 0.25, 0.29, 0.32, 0.35, 0.39, 0.41, 0.44, 0.47, 0.49, 0.5, 0.52, 0.55, 0.56, 0.57, 0.6, 0.61, 0.61, 0.64, 0.64, 0.66, 0.66, 0.66, 0.68, 0.68, 0.7, 0.71, 0.71, 0.72, 0.73, 0.73, 0.74, 0.75, 0.76, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.79, 0.8, 0.81, 0.81, 0.81, 0.81, 0.82, 0.82, 0.83, 0.83, 0.83, 0.83, 0.84, 0.84 },
          { 0.2, 0.05, 0.05, 0.06, 0.06, 0.1, 0.15, 0.19, 0.24, 0.27, 0.31, 0.34, 0.38, 0.41, 0.43, 0.46, 0.48, 0.5, 0.51, 0.54, 0.55, 0.57, 0.59, 0.6, 0.61, 0.64, 0.64, 0.65, 0.66, 0.66, 0.68, 0.68, 0.7, 0.71, 0.71, 0.71, 0.73, 0.73, 0.74, 0.75, 0.76, 0.76, 0.76, 0.76, 0.76, 0.77, 0.77, 0.78, 0.78, 0.79, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.83, 0.83, 0.83, 0.84 },
          { 0.25, 0.04, 0.04, 0.05, 0.06, 0.09, 0.14, 0.18, 0.23, 0.25, 0.3, 0.34, 0.37, 0.41, 0.43, 0.46, 0.47, 0.5, 0.51, 0.54, 0.55, 0.57, 0.59, 0.6, 0.6, 0.63, 0.64, 0.65, 0.66, 0.66, 0.68, 0.68, 0.7, 0.7, 0.71, 0.71, 0.73, 0.73, 0.74, 0.75, 0.75, 0.76, 0.76, 0.76, 0.76, 0.77, 0.77, 0.77, 0.78, 0.78, 0.79, 0.8, 0.8, 0.81, 0.81, 0.81, 0.81, 0.82, 0.82, 0.82, 0.82, 0.83, 0.83, 0.84 },
          { 0.26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
          { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
      } },
    { 0.01, /* 1 % */ {
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          { 0.01, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },
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          { 0.2, 0.0986461598112005, 0.139188186596497, 0.179730213381794, 0.218066835281035, 0.258066397636293, 0.328311865788127, 0.401327050400633, 0.449893720904585, 0.479914299331182, 0.509934877757778, 0.538986868119549, 0.56803885848132, 0.592103064775846, 0.616167271070373, 0.636934646859539, 0.65737374053147, 0.672509126913012, 0.687644513294554, 0.699517791221936, 0.711391069149318, 0.723448767064611, 0.741690591055204, 0.747539496956774, 0.753388402858344, 0.763118603565479, 0.772848804272614, 0.779744972226447, 0.790386333863852, 0.794319706774836, 0.79825307968582, 0.803385818737456, 0.808518557789092, 0.808518557789092, 0.808518557789092, 0.808518557789092, 0.808518557789092, 0.808518557789092, 0.808518557789092, 0.808518557789092, 0.808518557789092 },
          { 0.25, 0.0393975953924293, 0.09088482198001, 0.142372048567591, 0.187303739412184, 0.235482769312622, 0.297355057634163, 0.379075846260951, 0.42094470870729, 0.455461279039084, 0.489977849370878, 0.521745285053071, 0.553512720735263, 0.579854619716696, 0.606196518698129, 0.628321672395608, 0.647585630914837, 0.662109118968355, 0.676632607021873, 0.690891060973797, 0.70514951492572, 0.717318747136481, 0.73045912311075, 0.738946552159138, 0.747433981207526, 0.75775340350785, 0.768072825808174, 0.774938437966424, 0.785126593182027, 0.789414999424253, 0.793703405666478, 0.797505224071354, 0.801307042476231, 0.801307042476231, 0.801307042476231, 0.801307042476231, 0.801307042476231, 0.801307042476231, 0.801307042476231, 0.801307042476231, 0.801307042476231 },
          { 0.3, 0.0210478967758402, 0.0711084647309639, 0.121169032686088, 0.168885601821729, 0.213578615769714, 0.273066769541076, 0.360776713761819, 0.397796340556935, 0.436275357638552, 0.47475437472017, 0.50897823444498, 0.54320209416979, 0.571052544860864, 0.598902995551939, 0.621483703920921, 0.6395962131518, 0.654464408015884, 0.669332602879968, 0.685237723031466, 0.701142843182965, 0.712181193231773, 0.720165628630026, 0.731491090798414, 0.742816552966801, 0.753436797651763, 0.764057042336725, 0.770719259487742, 0.781599452361292, 0.785756942085925, 0.789914431810557, 0.792673232457936, 0.795432033105314, 0.795432033105314, 0.795432033105314, 0.795432033105314, 0.795432033105314, 0.795432033105314, 0.795432033105314, 0.795432033105314, 0.795432033105314 },
          { 0.35, 0.0113334531270347, 0.0599869575739893, 0.108640462020944, 0.153858351505968, 0.197134866866849, 0.25412804143851, 0.345933076833691, 0.383111296841587, 0.424261648660219, 0.46541200047885, 0.501035934237959, 0.536659867997067, 0.564812061392058, 0.592964254787048, 0.616440276133522, 0.634038661861171, 0.648967864067922, 0.663897066274672, 0.681364470282165, 0.698831874289658, 0.708394342114359, 0.714701416421282, 0.726996298778046, 0.73929118113481, 0.750168466609966, 0.761045752085122, 0.766802538389465, 0.778687903453508, 0.783005018625862, 0.787322133798216, 0.789902523208237, 0.792482912618258, 0.792482912618258, 0.792482912618258, 0.792482912618258, 0.792482912618258, 0.792482912618258, 0.792482912618258, 0.792482912618258, 0.792482912618258 },
          { 0.4, 0.0112478744295242, 0.0554748154391501, 0.099701756448776, 0.142545648016812, 0.184848902312135, 0.238989925797447, 0.334092145202051, 0.372104890767172, 0.415345134992871, 0.458585379218571, 0.495023650880262, 0.531461922541953, 0.559332720726316, 0.587203518910679, 0.612921717342923, 0.631412804962197, 0.645364271104707, 0.659315737247217, 0.678191260437401, 0.697066783627585, 0.706813087505316, 0.713902267886003, 0.725255062022776, 0.73660785615955, 0.747945554719885, 0.75928325328022, 0.765658595196935, 0.776538052448838, 0.781012483765834, 0.785486915082831, 0.788935510521548, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265 },
          { 0.45, 0.0111167533512963, 0.0519752941317519, 0.0928338349122075, 0.133734915349141, 0.175111358969462, 0.229110255576303, 0.32454208001566, 0.361342881919184, 0.408567953576111, 0.455793025233039, 0.49137344136733, 0.526953857501621, 0.554368741354233, 0.581783625206846, 0.610135546372381, 0.629818279298919, 0.642984846944189, 0.65615141458946, 0.67598823990646, 0.69582506522346, 0.705735293531639, 0.713417123491555, 0.723952364835309, 0.734487606179063, 0.74641963073617, 0.758351655293277, 0.765098505695621, 0.775827814569536, 0.779949924134941, 0.784072033700346, 0.788228069830305, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265 },
          { 0.499, 0.00863437872972396, 0.0483683782311481, 0.0881023777325723, 0.127850677384214, 0.167679265660954, 0.223152099046353, 0.316164798107462, 0.356953642384106, 0.405960288265639, 0.454966934147172, 0.488818368511146, 0.522669802875119, 0.549890578470501, 0.577111354065883, 0.608625286574539, 0.628500614778987, 0.6417340799745, 0.654967545170013, 0.675165897945868, 0.695364250721722, 0.705299898992211, 0.713245125454679, 0.723189071801203, 0.733133018147727, 0.745540029684902, 0.757947041222077, 0.764900768115986, 0.775827814569536, 0.779637153658045, 0.783446492746553, 0.787915299353409, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265, 0.792384105960265 },
          { 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
          { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
      } },
};
 
// NOLINTEND
 
bool differenceTest(double sqNormFix1, double sqNormFix2, double criticalValue)
{
    return sqNormFix2 - sqNormFix1 >= criticalValue;
}
 
bool ratioTest(double sqNormFix1, double sqNormFix2, double mu)
{
    return sqNormFix1 / sqNormFix2 <= mu;
}
 
double criticalValueFailureRateLookup(double Pf, double Pf_ILS, size_t nAmb)
{
    INS_ASSERT_USER_ERROR(Pf == 0.001 || Pf == 0.01, "Only lookup-tables for Pf = 0.1% or 1% exist.");
    INS_ASSERT_USER_ERROR(Pf_ILS >= 0 && Pf_ILS <= 1.0, "Pf_ILS needs to be between 0 and 1");
    if (nAmb == 0)
    {
        LOG_ERROR("Need at least 1 ambiguity.");
        return 0.0;
    }
 
    const auto& table = lookupTableFailureProbability.at(Pf);
    nAmb = std::min(nAmb, table[0].size()); // Limit nAmb to the table size
 
    for (size_t i = 0; i < table.size() - 1; i++)
    {
        if (table[i][0] <= Pf_ILS && Pf_ILS <= table[i + 1][0])
        {
            double t = (Pf_ILS - table[i][0]) / (table[i + 1][0] - table[i][0]);
            return std::lerp(table[i][nAmb - 1], table[i + 1][nAmb - 1], t);
        }
    }
 
    LOG_ERROR("Ambiguity resolution critical value lookup did not work (please contact a developer).");
    return 0.0; // This should not happen.
}
 
} // namespace NAV::Ambiguity