Adds errors (biases and noise) to measurements. More...

Data Structures
struct	CycleSlipInfo
	Cycle-slip information. More...

Public Member Functions
	ErrorModel ()
	Default constructor.
	ErrorModel (const ErrorModel &)=delete
	Copy constructor.
	ErrorModel (ErrorModel &&)=delete
	Move constructor.
void	guiConfig () override
	ImGui config window which is shown on double click.
ErrorModel &	operator= (const ErrorModel &)=delete
	Copy assignment operator.
ErrorModel &	operator= (ErrorModel &&)=delete
	Move assignment operator.
void	restore (const json &j) override
	Restores the node from a json object.
json	save () const override
	Saves the node into a json object.
std::string	type () const override
	String representation of the Class Type.
	~ErrorModel () override
	Destructor.
Public Member Functions inherited from NAV::Node
template<std::derived_from< Node > T>
InputPin *	CreateInputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, void(T::notifyFunc)(const InsTime &, size_t), int idx=-1)
	Create an Input Pin object for data pins. The additional notify function gets called when the connected data was changed and the connected node calls NAV::Node::notifyOutputValueChanged.
InputPin *	CreateInputPin (const char *name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier={}, InputPin::Callback callback=static_cast< InputPin::FlowFirableCallbackFunc >(nullptr), InputPin::FlowFirableCheckFunc firable=nullptr, int priority=0, int idx=-1)
	Create an Input Pin object.
template<std::derived_from< Node > T>
InputPin *	CreateInputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier={}, void(T::callback)(InputPin::NodeDataQueue &, size_t)=nullptr, InputPin::FlowFirableCheckFunc firable=nullptr, int priority=0, int idx=-1)
	Create an Input Pin object.
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, OutputPin::PinData data=static_cast< void >(nullptr), int idx=-1)
	Create an Output Pin object.
template<std::derived_from< Node > T>
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, std::shared_ptr< const NAV::NodeData >(T::peekPollDataFunc)(size_t, bool)=nullptr, int idx=-1)
	Create an Output Pin object for Flow Pins.
template<std::derived_from< Node > T>
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, std::shared_ptr< const NAV::NodeData >(T::pollDataFunc)()=nullptr, int idx=-1)
	Create an Output Pin object for Flow Pins.
virtual void	deinitialize ()
	Deinitialize the Node.
bool	DeleteInputPin (size_t pinIndex)
	Deletes the input pin. Invalidates the pin reference given.
bool	DeleteOutputPin (size_t pinIndex)
	Deletes the output pin. Invalidates the pin reference given.
bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.
bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.
bool	doEnable ()
	Enable the node.
bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.
bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.
virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.
template<typename T>
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.
Mode	getMode () const
	Get the current mode of the node.
const ImVec2 &	getSize () const
	Get the size of the node.
State	getState () const
	Get the current state of the node.
bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.
virtual bool	initialize ()
	Initialize the Node.
InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.
bool	isDisabled () const
	Checks if the node is disabled.
bool	isInitialized () const
	Checks if the node is initialized.
bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)
bool	isTransient () const
	Checks if the node is changing its state currently.
std::string	nameId () const
	Node name and id.
	Node (const Node &)=delete
	Copy constructor.
	Node (Node &&)=delete
	Move constructor.
	Node (std::string name)
	Constructor.
void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard)
	Notifies connected nodes about the change.
virtual bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.
virtual void	onDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link is to be deleted.
Node &	operator= (const Node &)=delete
	Copy assignment operator.
Node &	operator= (Node &&)=delete
	Move assignment operator.
OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.
std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.
virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.
void	wakeWorker ()
	Wakes the worker thread.
virtual	~Node ()
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the Class Category.
static std::string	typeStatic ()
	String representation of the Class Type.
Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Private Types
enum class	AttitudeBiasUnits : uint8_t { rad , deg }
	Possible units to specify a attitude bias with. More...
enum class	AttitudeNoiseUnits : uint8_t { rad , deg , rad2 , deg2 }
	Possible units to specify a attitude noise with. More...
enum class	CarrierPhaseNoiseUnits : uint8_t { meter }
	Possible units to specify a carrier-phase noise with. More...
enum class	CycleSlipDetectionProbabilityUnits : uint8_t { percent }
	Possible units to specify the cycle-slip detection probability with. More...
enum class	CycleSlipFrequencyUnits : uint8_t { per_day , per_hour , per_minute }
	Possible units to specify the cycle-slip rate with. More...
enum class	DopplerNoiseUnits : uint8_t { m_s }
	Possible units to specify a range-rate noise with. More...
enum class	PositionBiasUnits : uint8_t { meter }
	Possible units to specify a position bias with. More...
enum class	PositionNoiseUnits : uint8_t { meter , meter2 }
	Possible units to specify a position noise with. More...
enum class	PseudorangeNoiseUnits : uint8_t { meter }
	Possible units to specify a pseudorange noise with. More...
enum class	VelocityBiasUnits : uint8_t { m_s }
	Possible units to specify an velocity bias with. More...
enum class	VelocityNoiseUnits : uint8_t { m_s , m2_s2 }
	Possible units to specify an velocity noise with. More...

Private Member Functions
void	afterCreateLink (OutputPin &startPin, InputPin &endPin) override
	Called when a new link was established.
void	afterDeleteLink (OutputPin &startPin, InputPin &endPin) override
	Called when a link was deleted.
std::shared_ptr< GnssObs >	receiveGnssObs (const std::shared_ptr< GnssObs > &gnssObs)
	Callback when receiving an GnssObs.
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)
	Callback when receiving an ImuObs.
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)
	Callback when receiving an ImuObsWDelta.
void	receiveObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Callback when receiving data on a port.
std::shared_ptr< Pos >	receivePos (const std::shared_ptr< Pos > &pos)
	Callback when receiving an PosObs.
std::shared_ptr< PosVel >	receivePosVel (const std::shared_ptr< PosVel > &posVel)
	Callback when receiving an PosVelObs.
std::shared_ptr< PosVelAtt >	receivePosVelAtt (const std::shared_ptr< PosVelAtt > &posVelAtt)
	Callback when receiving an PosVelAttObs.
bool	resetNode () override
	Resets the node. It is guaranteed that the node is initialized when this is called.

Private Attributes
std::map< SatSigId, std::vector< std::pair< InsTime, int > > >	_ambiguities
	Ambiguity map.
RandomNumberGenerator	_ambiguityRng
	Random number generator for the ambiguity.
Eigen::Vector3d	_attitudeBias
	Bias of the attitude (Unit as selected)
AttitudeBiasUnits	_attitudeBiasUnit
	Selected unit for the attitude bias in the GUI.
Eigen::Vector3d	_attitudeNoise
	Noise of the attitude (Unit as selected)
AttitudeNoiseUnits	_attitudeNoiseUnit
	Selected unit for the attitude noise in the GUI.
RandomNumberGenerator	_attitudeRng
	Random number generator for the attitude noise.
RandomNumberGenerator	_carrierPhaseRng
	Random number generator for the carrier-phase noise.
RandomNumberGenerator	_cycleSlipRng
	Random number generator for the cycle-slip.
std::vector< CycleSlipInfo >	_cycleSlips
	List of produced cycle-slips.
InsTime	_cycleSlipWindowStartTime
	The time frame which is considered for a cycle slip.
RandomNumberGenerator	_dopplerRng
	Random number generator for the range-rate noise.
double	_dt
	Time interval of the messages [s].
Code	_filterCode
	Codes used for calculation (GUI filter)
Frequency	_filterFreq
	Frequencies used for calculation (GUI filter)
std::array< int, 2 >	_gui_ambiguityLimits
	Ambiguity limits.
double	_gui_carrierPhaseNoise
	Noise of the carrier-phase (Unit as selected)
CarrierPhaseNoiseUnits	_gui_carrierPhaseNoiseUnit
	Selected unit for the carrier-phase noise in the GUI.
double	_gui_cycleSlipDetectionProbability
	The chance to detect a cycle slip and set the Loss-of-Lock indicator.
CycleSlipDetectionProbabilityUnits	_gui_cycleSlipDetectionProbabilityUnit
	Selected unit for the cycle-slip detection probability in the GUI.
double	_gui_cycleSlipFrequency
	The cycle-slip frequency (Unit as selected)
CycleSlipFrequencyUnits	_gui_cycleSlipFrequencyUnit
	Selected unit for the cycle-slip frequency in the GUI.
int	_gui_cycleSlipRange
	Ambiguity limits cycle-slip.
double	_gui_dopplerNoise
	Noise of the range-rate (Unit as selected)
DopplerNoiseUnits	_gui_dopplerNoiseUnit
	Selected unit for the range-rate noise in the GUI.
double	_gui_pseudorangeNoise
	Noise of the pseudorange (Unit as selected)
PseudorangeNoiseUnits	_gui_pseudorangeNoiseUnit
	Selected unit for the pseudorange noise in the GUI.
Eigen::Vector3d	_imuAccelerometerBias_p
	Bias of the accelerometer in platform coordinates (Unit as selected)
Units::ImuAccelerometerUnits	_imuAccelerometerBiasUnit
	Selected unit for the accelerometer bias in the GUI.
Eigen::Vector3d	_imuAccelerometerIRW
	IRW noise of the accelerometer (Unit as selected)
RandomNumberGenerator	_imuAccelerometerIRWRng
	Random number generator for the accelerometer IRW noise.
Units::ImuAccelerometerIRWUnits	_imuAccelerometerIRWUnit
	Selected unit for the accelerometer IRW noise in the GUI.
Eigen::Vector3d	_imuAccelerometerNoise
	Noise of the accelerometer (Unit as selected)
Units::ImuAccelerometerNoiseUnits	_imuAccelerometerNoiseUnit
	Selected unit for the accelerometer noise in the GUI.
RandomNumberGenerator	_imuAccelerometerRng
	Random number generator for the accelerometer noise.
Eigen::Vector3d	_imuAccelerometerRW
	RW noise of the accelerometer (Unit as selected)
RandomNumberGenerator	_imuAccelerometerRWRng
	Random number generator for the accelerometer RW noise.
Units::ImuAccelerometerNoiseUnits	_imuAccelerometerRWUnit
	Selected unit for the accelerometer RW noise in the GUI.
Eigen::Vector3d	_imuGyroscopeBias_p
	Bias of the gyroscope in platform coordinates (Unit as selected)
Units::ImuGyroscopeUnits	_imuGyroscopeBiasUnit
	Selected unit for the gyroscope bias in the GUI.
Eigen::Vector3d	_imuGyroscopeIRW
	RW noise of the accelerometer (Unit as selected)
RandomNumberGenerator	_imuGyroscopeIRWRng
	Random number generator for the accelerometer RW noise.
Units::ImuGyroscopeIRWUnits	_imuGyroscopeIRWUnit
	Selected unit for the accelerometer IRW noise in the GUI.
Eigen::Vector3d	_imuGyroscopeNoise
	Noise of the gyroscope (Unit as selected)
Units::ImuGyroscopeNoiseUnits	_imuGyroscopeNoiseUnit
	Selected unit for the gyroscope noise in the GUI.
RandomNumberGenerator	_imuGyroscopeRng
	Random number generator for the gyroscope noise.
Eigen::Vector3d	_imuGyroscopeRW
	RW noise of the accelerometer (Unit as selected)
RandomNumberGenerator	_imuGyroscopeRWRng
	Random number generator for the accelerometer RW noise.
Units::ImuGyroscopeNoiseUnits	_imuGyroscopeRWUnit
	Selected unit for the accelerometer RW noise in the GUI.
Eigen::Vector3d	_integratedRandomWalkAccelerometer
	3D array which allow to accumulate IRW for accelerometer
Eigen::Vector3d	_integratedRandomWalkAccelerometer_velocity
	3D array which allow to accumulate IRW veloctiy noise for accelerometer
Eigen::Vector3d	_integratedRandomWalkGyroscope
	3D array which allow to accumulate IRW for gyro
Eigen::Vector3d	_integratedRandomWalkGyroscope_velocity
	3D array which allow to accumulate IRW veloctiy noise for gyro
InsTime	_lastObservationTime
	Last observation time.
int	_manualCycleSlipAmbiguity
	GUI input for new manual cycle-slips.
std::map< std::pair< InsTime, SatSigId >, std::pair< int, bool > >	_manualCycleSlips
	Cycle-slips set by the user.
bool	_manualCycleSlipSetLLI
	GUI input for new manual cycle-slips.
SatSigId	_manualCycleSlipSignal
	GUI input for new manual cycle-slips.
InsTime	_manualCycleSlipTime
	GUI input for new manual cycle-slips.
gui::widgets::TimeEditFormat	_manualCycleSlipTimeEditFormat
	GUI input for new manual cycle-slips.
Eigen::Vector3d	_positionBias
	Bias of the position (Unit as selected)
PositionBiasUnits	_positionBiasUnit
	Selected unit for the position bias in the GUI.
Eigen::Vector3d	_positionNoise
	Noise of the position (Unit as selected)
PositionNoiseUnits	_positionNoiseUnit
	Selected unit for the position noise in the GUI.
RandomNumberGenerator	_positionRng
	Random number generator for the position noise.
RandomNumberGenerator	_pseudorangeRng
	Random number generator for the pseudorange noise.
Eigen::Vector3d	_randomWalkAccelerometer
	3D array which allow to accumulate RW noise for accelerometer
Eigen::Vector3d	_randomWalkGyroscope
	3D array which allow to accumulate RW noise for gyro
Eigen::Vector3d	_velocityBias
	Bias of the velocity (Unit as selected)
VelocityBiasUnits	_velocityBiasUnit
	Selected unit for the velocity bias in the GUI.
Eigen::Vector3d	_velocityNoise
	Noise of the velocity (Unit as selected)
VelocityNoiseUnits	_velocityNoiseUnit
	Selected unit for the velocity noise in the GUI.
RandomNumberGenerator	_velocityRng
	Random number generator for the velocity noise.

Static Private Attributes
static constexpr size_t	OUTPUT_PORT_INDEX_FLOW
	Flow.

Additional Inherited Members
Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...
enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...
Data Fields inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.
ax::NodeEditor::NodeId	id
	Unique Id of the Node.
std::vector< InputPin >	inputPins
	List of input pins.
Kind	kind
	Kind of the Node.
std::string	name
	Name of the Node.
std::vector< OutputPin >	outputPins
	List of output pins.
std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)
Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize
bool	_hasConfig
	Flag if the config window should be shown.
bool	_lockConfigDuringRun
	Lock the config when executing post-processing.
bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.

Detailed Description

Adds errors (biases and noise) to measurements.

Definition at line 35 of file ErrorModel.hpp.

Member Enumeration Documentation

◆ AttitudeBiasUnits

enum class NAV::ErrorModel::AttitudeBiasUnits : uint8_t

strongprivate

Possible units to specify a attitude bias with.

Enumerator
rad	[rad]
deg	[deg]

Definition at line 240 of file ErrorModel.hpp.

◆ AttitudeNoiseUnits

enum class NAV::ErrorModel::AttitudeNoiseUnits : uint8_t

strongprivate

Possible units to specify a attitude noise with.

Enumerator
rad	[rad] (Standard deviation)
deg	[deg] (Standard deviation)
rad2	[rad^2] (Variance)
deg2	[deg^2] (Variance)

Definition at line 279 of file ErrorModel.hpp.

◆ CarrierPhaseNoiseUnits

enum class NAV::ErrorModel::CarrierPhaseNoiseUnits : uint8_t

strongprivate

Possible units to specify a carrier-phase noise with.

Enumerator
meter	[m] (Standard deviation)

Definition at line 312 of file ErrorModel.hpp.

◆ CycleSlipDetectionProbabilityUnits

enum class NAV::ErrorModel::CycleSlipDetectionProbabilityUnits : uint8_t

strongprivate

Possible units to specify the cycle-slip detection probability with.

Enumerator
percent	[%]

Definition at line 371 of file ErrorModel.hpp.

◆ CycleSlipFrequencyUnits

enum class NAV::ErrorModel::CycleSlipFrequencyUnits : uint8_t

strongprivate

Possible units to specify the cycle-slip rate with.

Enumerator
per_day	[1/d]
per_hour	[1/h]
per_minute	[1/m]

Definition at line 355 of file ErrorModel.hpp.

◆ DopplerNoiseUnits

enum class NAV::ErrorModel::DopplerNoiseUnits : uint8_t

strongprivate

Possible units to specify a range-rate noise with.

Enumerator
m_s	[m/s] (Standard deviation)

Definition at line 324 of file ErrorModel.hpp.

◆ PositionBiasUnits

enum class NAV::ErrorModel::PositionBiasUnits : uint8_t

strongprivate

Possible units to specify a position bias with.

Enumerator
meter	NED [m m m].

Definition at line 220 of file ErrorModel.hpp.

◆ PositionNoiseUnits

enum class NAV::ErrorModel::PositionNoiseUnits : uint8_t

strongprivate

Possible units to specify a position noise with.

Enumerator
meter	NED [m m m] (Standard deviation)
meter2	NED [m^2 m^2 m^2] (Variance)

Definition at line 253 of file ErrorModel.hpp.

◆ PseudorangeNoiseUnits

enum class NAV::ErrorModel::PseudorangeNoiseUnits : uint8_t

strongprivate

Possible units to specify a pseudorange noise with.

Enumerator
meter	[m] (Standard deviation)

Definition at line 300 of file ErrorModel.hpp.

◆ VelocityBiasUnits

enum class NAV::ErrorModel::VelocityBiasUnits : uint8_t

strongprivate

Possible units to specify an velocity bias with.

Enumerator
m_s	[m/s]

Definition at line 230 of file ErrorModel.hpp.

◆ VelocityNoiseUnits

enum class NAV::ErrorModel::VelocityNoiseUnits : uint8_t

strongprivate

Possible units to specify an velocity noise with.

Enumerator
m_s	[m/s] (Standard deviation)
m2_s2	[m^2/s^2] (Variance)

Definition at line 266 of file ErrorModel.hpp.

Constructor & Destructor Documentation

◆ ErrorModel() [1/3]

NAV::ErrorModel::ErrorModel ( )

Default constructor.

Definition at line 54 of file ErrorModel.cpp.

◆ ~ErrorModel()

NAV::ErrorModel::~ErrorModel ( )

override

Destructor.

Definition at line 87 of file ErrorModel.cpp.

◆ ErrorModel() [2/3]

NAV::ErrorModel::ErrorModel ( const ErrorModel & )

delete

Copy constructor.

◆ ErrorModel() [3/3]

NAV::ErrorModel::ErrorModel ( ErrorModel && )

delete

Move constructor.

Member Function Documentation

◆ afterCreateLink()

void NAV::ErrorModel::afterCreateLink	(	OutputPin &	startPin,
		InputPin &	endPin )

overrideprivatevirtual

Called when a new link was established.

Parameters

[in]	startPin	Pin where the link starts
[in]	endPin	Pin where the link ends

Reimplemented from NAV::Node.

Definition at line 730 of file ErrorModel.cpp.

◆ afterDeleteLink()

void NAV::ErrorModel::afterDeleteLink	(	OutputPin &	startPin,
		InputPin &	endPin )

overrideprivatevirtual

Called when a link was deleted.

Parameters

[in]	startPin	Pin where the link starts
[in]	endPin	Pin where the link ends

Reimplemented from NAV::Node.

Definition at line 773 of file ErrorModel.cpp.

◆ category()

std::string NAV::ErrorModel::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 102 of file ErrorModel.cpp.

◆ guiConfig()

void NAV::ErrorModel::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Node.

Definition at line 107 of file ErrorModel.cpp.

◆ operator=() [1/2]

ErrorModel & NAV::ErrorModel::operator= ( const ErrorModel & )

delete

Copy assignment operator.

◆ operator=() [2/2]

ErrorModel & NAV::ErrorModel::operator= ( ErrorModel && )

delete

Move assignment operator.

◆ receiveGnssObs()

std::shared_ptr< NAV::GnssObs > NAV::ErrorModel::receiveGnssObs ( const std::shared_ptr< GnssObs > & gnssObs )

nodiscardprivate

Callback when receiving an GnssObs.

Parameters

[in] gnssObs Copied data to modify and send out again

Definition at line 1290 of file ErrorModel.cpp.

◆ receiveImuObs()

std::shared_ptr< NAV::ImuObs > NAV::ErrorModel::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 )

private

Callback when receiving an ImuObs.

Parameters

[in]	imuObs	Copied data to modify and send out again
[in]	accelerometerBias_p	Accelerometer Bias in platform frame coordinates [m/s^2]
[in]	gyroscopeBias_p	Gyroscope Bias in platform frame coordinates [rad/s]
[in]	accelerometerNoiseStd	Accelerometer Noise standard deviation in platform frame coordinates [m/s^2]
[in]	gyroscopeNoiseStd	Gyroscope Noise standard deviation in platform frame coordinates [rad/s]

Definition at line 857 of file ErrorModel.cpp.

◆ receiveImuObsWDelta()

std::shared_ptr< NAV::ImuObsWDelta > NAV::ErrorModel::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 )

nodiscardprivate

Callback when receiving an ImuObsWDelta.

Parameters

[in]	imuObs	Copied data to modify and send out again
[in]	accelerometerBias_p	Accelerometer Bias in platform frame coordinates [m/s^2]
[in]	gyroscopeBias_p	Gyroscope Bias in platform frame coordinates [rad/s]
[in]	accelerometerNoiseStd	Accelerometer Noise standard deviation in platform frame coordinates [m/s^2]
[in]	gyroscopeNoiseStd	Gyroscope Noise standard deviation in platform frame coordinates [rad/s]

Definition at line 943 of file ErrorModel.cpp.

◆ receiveObs()

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

private

Callback when receiving data on a port.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 786 of file ErrorModel.cpp.

◆ receivePos()

std::shared_ptr< NAV::Pos > NAV::ErrorModel::receivePos ( const std::shared_ptr< Pos > & pos )

nodiscardprivate

Callback when receiving an PosObs.

Parameters

[in] pos Copied data to modify and send out again

Definition at line 970 of file ErrorModel.cpp.

◆ receivePosVel()

std::shared_ptr< NAV::PosVel > NAV::ErrorModel::receivePosVel ( const std::shared_ptr< PosVel > & posVel )

nodiscardprivate

Callback when receiving an PosVelObs.

Parameters

[in] posVel Copied data to modify and send out again

Definition at line 1053 of file ErrorModel.cpp.

◆ receivePosVelAtt()

std::shared_ptr< NAV::PosVelAtt > NAV::ErrorModel::receivePosVelAtt ( const std::shared_ptr< PosVelAtt > & posVelAtt )

nodiscardprivate

Callback when receiving an PosVelAttObs.

Parameters

[in] posVelAtt Copied data to modify and send out again

Definition at line 1148 of file ErrorModel.cpp.

◆ resetNode()

bool NAV::ErrorModel::resetNode ( )

overrideprivatevirtual

Resets the node. It is guaranteed that the node is initialized when this is called.

Reimplemented from NAV::Node.

Definition at line 691 of file ErrorModel.cpp.

◆ restore()

void NAV::ErrorModel::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Node.

Definition at line 615 of file ErrorModel.cpp.

◆ save()

json NAV::ErrorModel::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 538 of file ErrorModel.cpp.

◆ type()

std::string NAV::ErrorModel::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 97 of file ErrorModel.cpp.

◆ typeStatic()

std::string NAV::ErrorModel::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 92 of file ErrorModel.cpp.

Field Documentation

◆ _ambiguities

std::map<SatSigId, std::vector<std::pair<InsTime, int> > > NAV::ErrorModel::_ambiguities

private

Ambiguity map.

Definition at line 342 of file ErrorModel.hpp.

◆ _ambiguityRng

RandomNumberGenerator NAV::ErrorModel::_ambiguityRng

private

Random number generator for the ambiguity.

Definition at line 340 of file ErrorModel.hpp.

◆ _attitudeBias

Eigen::Vector3d NAV::ErrorModel::_attitudeBias

private

Bias of the attitude (Unit as selected)

Definition at line 248 of file ErrorModel.hpp.

◆ _attitudeBiasUnit

AttitudeBiasUnits NAV::ErrorModel::_attitudeBiasUnit

private

Selected unit for the attitude bias in the GUI.

Definition at line 246 of file ErrorModel.hpp.

◆ _attitudeNoise

Eigen::Vector3d NAV::ErrorModel::_attitudeNoise

private

Noise of the attitude (Unit as selected)

Definition at line 289 of file ErrorModel.hpp.

◆ _attitudeNoiseUnit

AttitudeNoiseUnits NAV::ErrorModel::_attitudeNoiseUnit

private

Selected unit for the attitude noise in the GUI.

Definition at line 287 of file ErrorModel.hpp.

◆ _attitudeRng

RandomNumberGenerator NAV::ErrorModel::_attitudeRng

private

Random number generator for the attitude noise.

Definition at line 291 of file ErrorModel.hpp.

◆ _carrierPhaseRng

RandomNumberGenerator NAV::ErrorModel::_carrierPhaseRng

private

Random number generator for the carrier-phase noise.

Definition at line 321 of file ErrorModel.hpp.

◆ _cycleSlipRng

RandomNumberGenerator NAV::ErrorModel::_cycleSlipRng

private

Random number generator for the cycle-slip.

Definition at line 381 of file ErrorModel.hpp.

◆ _cycleSlips

std::vector<CycleSlipInfo> NAV::ErrorModel::_cycleSlips

private

List of produced cycle-slips.

Definition at line 391 of file ErrorModel.hpp.

◆ _cycleSlipWindowStartTime

InsTime NAV::ErrorModel::_cycleSlipWindowStartTime

private

The time frame which is considered for a cycle slip.

Definition at line 368 of file ErrorModel.hpp.

◆ _dopplerRng

RandomNumberGenerator NAV::ErrorModel::_dopplerRng

private

Random number generator for the range-rate noise.

Definition at line 333 of file ErrorModel.hpp.

◆ _dt

double NAV::ErrorModel::_dt

private

Time interval of the messages [s].

Definition at line 133 of file ErrorModel.hpp.

◆ _filterCode

Code NAV::ErrorModel::_filterCode

private

Codes used for calculation (GUI filter)

Definition at line 396 of file ErrorModel.hpp.

◆ _filterFreq

Frequency NAV::ErrorModel::_filterFreq

private

Frequencies used for calculation (GUI filter)

Definition at line 394 of file ErrorModel.hpp.

◆ _gui_ambiguityLimits

std::array<int, 2> NAV::ErrorModel::_gui_ambiguityLimits

private

Ambiguity limits.

Definition at line 338 of file ErrorModel.hpp.

◆ _gui_carrierPhaseNoise

double NAV::ErrorModel::_gui_carrierPhaseNoise

private

Noise of the carrier-phase (Unit as selected)

Definition at line 319 of file ErrorModel.hpp.

◆ _gui_carrierPhaseNoiseUnit

CarrierPhaseNoiseUnits NAV::ErrorModel::_gui_carrierPhaseNoiseUnit

private

Selected unit for the carrier-phase noise in the GUI.

Definition at line 317 of file ErrorModel.hpp.

◆ _gui_cycleSlipDetectionProbability

double NAV::ErrorModel::_gui_cycleSlipDetectionProbability

private

The chance to detect a cycle slip and set the Loss-of-Lock indicator.

Definition at line 378 of file ErrorModel.hpp.

◆ _gui_cycleSlipDetectionProbabilityUnit

CycleSlipDetectionProbabilityUnits NAV::ErrorModel::_gui_cycleSlipDetectionProbabilityUnit

private

Selected unit for the cycle-slip detection probability in the GUI.

Definition at line 376 of file ErrorModel.hpp.

◆ _gui_cycleSlipFrequency

double NAV::ErrorModel::_gui_cycleSlipFrequency

private

The cycle-slip frequency (Unit as selected)

Definition at line 364 of file ErrorModel.hpp.

◆ _gui_cycleSlipFrequencyUnit

CycleSlipFrequencyUnits NAV::ErrorModel::_gui_cycleSlipFrequencyUnit

private

Selected unit for the cycle-slip frequency in the GUI.

Definition at line 362 of file ErrorModel.hpp.

◆ _gui_cycleSlipRange

int NAV::ErrorModel::_gui_cycleSlipRange

private

Ambiguity limits cycle-slip.

Definition at line 366 of file ErrorModel.hpp.

◆ _gui_dopplerNoise

double NAV::ErrorModel::_gui_dopplerNoise

private

Noise of the range-rate (Unit as selected)

Definition at line 331 of file ErrorModel.hpp.

◆ _gui_dopplerNoiseUnit

DopplerNoiseUnits NAV::ErrorModel::_gui_dopplerNoiseUnit

private

Selected unit for the range-rate noise in the GUI.

Definition at line 329 of file ErrorModel.hpp.

◆ _gui_pseudorangeNoise

double NAV::ErrorModel::_gui_pseudorangeNoise

private

Noise of the pseudorange (Unit as selected)

Definition at line 307 of file ErrorModel.hpp.

◆ _gui_pseudorangeNoiseUnit

PseudorangeNoiseUnits NAV::ErrorModel::_gui_pseudorangeNoiseUnit

private

Selected unit for the pseudorange noise in the GUI.

Definition at line 305 of file ErrorModel.hpp.

◆ _imuAccelerometerBias_p

Eigen::Vector3d NAV::ErrorModel::_imuAccelerometerBias_p

private

Bias of the accelerometer in platform coordinates (Unit as selected)

Definition at line 162 of file ErrorModel.hpp.

◆ _imuAccelerometerBiasUnit

Units::ImuAccelerometerUnits NAV::ErrorModel::_imuAccelerometerBiasUnit

private

Selected unit for the accelerometer bias in the GUI.

Definition at line 160 of file ErrorModel.hpp.

◆ _imuAccelerometerIRW

Eigen::Vector3d NAV::ErrorModel::_imuAccelerometerIRW

private

IRW noise of the accelerometer (Unit as selected)

Definition at line 202 of file ErrorModel.hpp.

◆ _imuAccelerometerIRWRng

RandomNumberGenerator NAV::ErrorModel::_imuAccelerometerIRWRng

private

Random number generator for the accelerometer IRW noise.

Definition at line 204 of file ErrorModel.hpp.

◆ _imuAccelerometerIRWUnit

Units::ImuAccelerometerIRWUnits NAV::ErrorModel::_imuAccelerometerIRWUnit

private

Selected unit for the accelerometer IRW noise in the GUI.

Definition at line 200 of file ErrorModel.hpp.

◆ _imuAccelerometerNoise

Eigen::Vector3d NAV::ErrorModel::_imuAccelerometerNoise

private

Noise of the accelerometer (Unit as selected)

Definition at line 174 of file ErrorModel.hpp.

◆ _imuAccelerometerNoiseUnit

Units::ImuAccelerometerNoiseUnits NAV::ErrorModel::_imuAccelerometerNoiseUnit

private

Selected unit for the accelerometer noise in the GUI.

Definition at line 172 of file ErrorModel.hpp.

◆ _imuAccelerometerRng

RandomNumberGenerator NAV::ErrorModel::_imuAccelerometerRng

private

Random number generator for the accelerometer noise.

Definition at line 176 of file ErrorModel.hpp.

◆ _imuAccelerometerRW

Eigen::Vector3d NAV::ErrorModel::_imuAccelerometerRW

private

RW noise of the accelerometer (Unit as selected)

Definition at line 188 of file ErrorModel.hpp.

◆ _imuAccelerometerRWRng

RandomNumberGenerator NAV::ErrorModel::_imuAccelerometerRWRng

private

Random number generator for the accelerometer RW noise.

Definition at line 190 of file ErrorModel.hpp.

◆ _imuAccelerometerRWUnit

Units::ImuAccelerometerNoiseUnits NAV::ErrorModel::_imuAccelerometerRWUnit

private

Selected unit for the accelerometer RW noise in the GUI.

Definition at line 186 of file ErrorModel.hpp.

◆ _imuGyroscopeBias_p

Eigen::Vector3d NAV::ErrorModel::_imuGyroscopeBias_p

private

Bias of the gyroscope in platform coordinates (Unit as selected)

Definition at line 167 of file ErrorModel.hpp.

◆ _imuGyroscopeBiasUnit

Units::ImuGyroscopeUnits NAV::ErrorModel::_imuGyroscopeBiasUnit

private

Selected unit for the gyroscope bias in the GUI.

Definition at line 165 of file ErrorModel.hpp.

◆ _imuGyroscopeIRW

Eigen::Vector3d NAV::ErrorModel::_imuGyroscopeIRW

private

RW noise of the accelerometer (Unit as selected)

Definition at line 209 of file ErrorModel.hpp.

◆ _imuGyroscopeIRWRng

RandomNumberGenerator NAV::ErrorModel::_imuGyroscopeIRWRng

private

Random number generator for the accelerometer RW noise.

Definition at line 211 of file ErrorModel.hpp.

◆ _imuGyroscopeIRWUnit

Units::ImuGyroscopeIRWUnits NAV::ErrorModel::_imuGyroscopeIRWUnit

private

Selected unit for the accelerometer IRW noise in the GUI.

Definition at line 207 of file ErrorModel.hpp.

◆ _imuGyroscopeNoise

Eigen::Vector3d NAV::ErrorModel::_imuGyroscopeNoise

private

Noise of the gyroscope (Unit as selected)

Definition at line 181 of file ErrorModel.hpp.

◆ _imuGyroscopeNoiseUnit

Units::ImuGyroscopeNoiseUnits NAV::ErrorModel::_imuGyroscopeNoiseUnit

private

Selected unit for the gyroscope noise in the GUI.

Definition at line 179 of file ErrorModel.hpp.

◆ _imuGyroscopeRng

RandomNumberGenerator NAV::ErrorModel::_imuGyroscopeRng

private

Random number generator for the gyroscope noise.

Definition at line 183 of file ErrorModel.hpp.

◆ _imuGyroscopeRW

Eigen::Vector3d NAV::ErrorModel::_imuGyroscopeRW

private

RW noise of the accelerometer (Unit as selected)

Definition at line 195 of file ErrorModel.hpp.

◆ _imuGyroscopeRWRng

RandomNumberGenerator NAV::ErrorModel::_imuGyroscopeRWRng

private

Random number generator for the accelerometer RW noise.

Definition at line 197 of file ErrorModel.hpp.

◆ _imuGyroscopeRWUnit

Units::ImuGyroscopeNoiseUnits NAV::ErrorModel::_imuGyroscopeRWUnit

private

Selected unit for the accelerometer RW noise in the GUI.

Definition at line 193 of file ErrorModel.hpp.

◆ _integratedRandomWalkAccelerometer

Eigen::Vector3d NAV::ErrorModel::_integratedRandomWalkAccelerometer

private

3D array which allow to accumulate IRW for accelerometer

Definition at line 149 of file ErrorModel.hpp.

◆ _integratedRandomWalkAccelerometer_velocity

Eigen::Vector3d NAV::ErrorModel::_integratedRandomWalkAccelerometer_velocity

private

3D array which allow to accumulate IRW veloctiy noise for accelerometer

Definition at line 146 of file ErrorModel.hpp.

◆ _integratedRandomWalkGyroscope

Eigen::Vector3d NAV::ErrorModel::_integratedRandomWalkGyroscope

private

3D array which allow to accumulate IRW for gyro

Definition at line 155 of file ErrorModel.hpp.

◆ _integratedRandomWalkGyroscope_velocity

Eigen::Vector3d NAV::ErrorModel::_integratedRandomWalkGyroscope_velocity

private

3D array which allow to accumulate IRW veloctiy noise for gyro

Definition at line 152 of file ErrorModel.hpp.

◆ _lastObservationTime

InsTime NAV::ErrorModel::_lastObservationTime

private

Last observation time.

Definition at line 131 of file ErrorModel.hpp.

◆ _manualCycleSlipAmbiguity

int NAV::ErrorModel::_manualCycleSlipAmbiguity

private

GUI input for new manual cycle-slips.

Definition at line 349 of file ErrorModel.hpp.

◆ _manualCycleSlips

std::map<std::pair<InsTime, SatSigId>, std::pair<int, bool> > NAV::ErrorModel::_manualCycleSlips

private

Cycle-slips set by the user.

Definition at line 344 of file ErrorModel.hpp.

◆ _manualCycleSlipSetLLI

bool NAV::ErrorModel::_manualCycleSlipSetLLI

private

GUI input for new manual cycle-slips.

Definition at line 350 of file ErrorModel.hpp.

◆ _manualCycleSlipSignal

SatSigId NAV::ErrorModel::_manualCycleSlipSignal

private

GUI input for new manual cycle-slips.

Definition at line 348 of file ErrorModel.hpp.

◆ _manualCycleSlipTime

InsTime NAV::ErrorModel::_manualCycleSlipTime

private

GUI input for new manual cycle-slips.

Definition at line 346 of file ErrorModel.hpp.

◆ _manualCycleSlipTimeEditFormat

gui::widgets::TimeEditFormat NAV::ErrorModel::_manualCycleSlipTimeEditFormat

private

GUI input for new manual cycle-slips.

Definition at line 347 of file ErrorModel.hpp.

◆ _positionBias

Eigen::Vector3d NAV::ErrorModel::_positionBias

private

Bias of the position (Unit as selected)

Definition at line 227 of file ErrorModel.hpp.

◆ _positionBiasUnit

PositionBiasUnits NAV::ErrorModel::_positionBiasUnit

private

Selected unit for the position bias in the GUI.

Definition at line 225 of file ErrorModel.hpp.

◆ _positionNoise

Eigen::Vector3d NAV::ErrorModel::_positionNoise

private

Noise of the position (Unit as selected)

Definition at line 262 of file ErrorModel.hpp.

◆ _positionNoiseUnit

PositionNoiseUnits NAV::ErrorModel::_positionNoiseUnit

private

Selected unit for the position noise in the GUI.

Definition at line 260 of file ErrorModel.hpp.

◆ _positionRng

RandomNumberGenerator NAV::ErrorModel::_positionRng

private

Random number generator for the position noise.

Definition at line 264 of file ErrorModel.hpp.

◆ _pseudorangeRng

RandomNumberGenerator NAV::ErrorModel::_pseudorangeRng

private

Random number generator for the pseudorange noise.

Definition at line 309 of file ErrorModel.hpp.

◆ _randomWalkAccelerometer

Eigen::Vector3d NAV::ErrorModel::_randomWalkAccelerometer

private

3D array which allow to accumulate RW noise for accelerometer

Definition at line 140 of file ErrorModel.hpp.

◆ _randomWalkGyroscope

Eigen::Vector3d NAV::ErrorModel::_randomWalkGyroscope

private

3D array which allow to accumulate RW noise for gyro

Definition at line 143 of file ErrorModel.hpp.

◆ _velocityBias

Eigen::Vector3d NAV::ErrorModel::_velocityBias

private

Bias of the velocity (Unit as selected)

Definition at line 237 of file ErrorModel.hpp.

◆ _velocityBiasUnit

VelocityBiasUnits NAV::ErrorModel::_velocityBiasUnit

private

Selected unit for the velocity bias in the GUI.

Definition at line 235 of file ErrorModel.hpp.

◆ _velocityNoise

Eigen::Vector3d NAV::ErrorModel::_velocityNoise

private

Noise of the velocity (Unit as selected)

Definition at line 274 of file ErrorModel.hpp.

◆ _velocityNoiseUnit

VelocityNoiseUnits NAV::ErrorModel::_velocityNoiseUnit

private

Selected unit for the velocity noise in the GUI.

Definition at line 272 of file ErrorModel.hpp.

◆ _velocityRng

RandomNumberGenerator NAV::ErrorModel::_velocityRng

private

Random number generator for the velocity noise.

Definition at line 276 of file ErrorModel.hpp.

◆ OUTPUT_PORT_INDEX_FLOW

size_t NAV::ErrorModel::OUTPUT_PORT_INDEX_FLOW

staticconstexprprivate

Flow.

Definition at line 72 of file ErrorModel.hpp.

The documentation for this class was generated from the following files:

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/ErrorModel/ErrorModel.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/ErrorModel/ErrorModel.cpp

Data Structures

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ AttitudeBiasUnits

◆ AttitudeNoiseUnits

◆ CarrierPhaseNoiseUnits

◆ CycleSlipDetectionProbabilityUnits

◆ CycleSlipFrequencyUnits

◆ DopplerNoiseUnits

◆ PositionBiasUnits

◆ PositionNoiseUnits

◆ PseudorangeNoiseUnits

◆ VelocityBiasUnits

◆ VelocityNoiseUnits

Constructor & Destructor Documentation

◆ ErrorModel() [1/3]

◆ ~ErrorModel()

◆ ErrorModel() [2/3]

◆ ErrorModel() [3/3]

Member Function Documentation

◆ afterCreateLink()

◆ afterDeleteLink()

◆ category()

◆ guiConfig()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ receiveGnssObs()

◆ receiveImuObs()

◆ receiveImuObsWDelta()

◆ receiveObs()

◆ receivePos()

◆ receivePosVel()

◆ receivePosVelAtt()

◆ resetNode()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

Field Documentation

◆ _ambiguities

◆ _ambiguityRng

◆ _attitudeBias

◆ _attitudeBiasUnit

◆ _attitudeNoise

◆ _attitudeNoiseUnit

◆ _attitudeRng

◆ _carrierPhaseRng

◆ _cycleSlipRng

◆ _cycleSlips

◆ _cycleSlipWindowStartTime

◆ _dopplerRng

◆ _dt

◆ _filterCode

◆ _filterFreq

◆ _gui_ambiguityLimits

◆ _gui_carrierPhaseNoise

◆ _gui_carrierPhaseNoiseUnit

◆ _gui_cycleSlipDetectionProbability

◆ _gui_cycleSlipDetectionProbabilityUnit

◆ _gui_cycleSlipFrequency

◆ _gui_cycleSlipFrequencyUnit

◆ _gui_cycleSlipRange

◆ _gui_dopplerNoise

◆ _gui_dopplerNoiseUnit

◆ _gui_pseudorangeNoise

◆ _gui_pseudorangeNoiseUnit

◆ _imuAccelerometerBias_p

◆ _imuAccelerometerBiasUnit

◆ _imuAccelerometerIRW

◆ _imuAccelerometerIRWRng

◆ _imuAccelerometerIRWUnit

◆ _imuAccelerometerNoise

◆ _imuAccelerometerNoiseUnit