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

Classes
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
virtual void	deinitialize ()
	Deinitialize the Node.

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.

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	InputType : uint8_t { None , ImuObs , ImuObsWDelta , PosVelAtt , GnssObs }
	Input type. 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< PosVelAtt >	receivePosVelAtt (const std::shared_ptr< PosVelAtt > &posVelAtt)
	Callback when receiving an ImuObs.

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.

InputType	_inputType
	Input type.

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.

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	INPUT_PORT_INDEX_FLOW
	Flow.

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...

Public Attributes 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.

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]

◆ 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)

◆ CarrierPhaseNoiseUnits

enum class NAV::ErrorModel::CarrierPhaseNoiseUnits : uint8_t

strongprivate

Possible units to specify a carrier-phase noise with.

Enumerator
meter	[m] (Standard deviation)

◆ CycleSlipDetectionProbabilityUnits

enum class NAV::ErrorModel::CycleSlipDetectionProbabilityUnits : uint8_t

strongprivate

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

Enumerator
percent	[%]

◆ 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]

◆ 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)

◆ InputType

enum class NAV::ErrorModel::InputType : uint8_t

strongprivate

Input type.

Enumerator
None	None.
ImuObs	ImuObs.
ImuObsWDelta	ImuObsWDelta.
PosVelAtt	PosVelAtt.
GnssObs	GnssObs.

◆ PositionBiasUnits

enum class NAV::ErrorModel::PositionBiasUnits : uint8_t

strongprivate

Possible units to specify a position bias with.

Enumerator
meter	NED [m m m].

◆ 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)

◆ PseudorangeNoiseUnits

enum class NAV::ErrorModel::PseudorangeNoiseUnits : uint8_t

strongprivate

Possible units to specify a pseudorange noise with.

Enumerator
meter	[m] (Standard deviation)

◆ VelocityBiasUnits

enum class NAV::ErrorModel::VelocityBiasUnits : uint8_t

strongprivate

Possible units to specify an velocity bias with.

Enumerator
m_s	[m/s]

◆ 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)

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.

◆ 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.

◆ 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.

◆ receiveGnssObs()

std::shared_ptr< 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

◆ receiveImuObs()

std::shared_ptr< 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]

◆ receiveImuObsWDelta()

std::shared_ptr< 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]

◆ 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

◆ receivePosVelAtt()

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

nodiscardprivate

Callback when receiving an ImuObs.

Parameters

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

◆ 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.

◆ 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.

◆ save()

json NAV::ErrorModel::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

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

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

Classes

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

◆ InputType

◆ PositionBiasUnits

◆ PositionNoiseUnits

◆ PseudorangeNoiseUnits

◆ VelocityBiasUnits

◆ VelocityNoiseUnits

Member Function Documentation

◆ afterCreateLink()

◆ afterDeleteLink()

◆ guiConfig()

◆ receiveGnssObs()

◆ receiveImuObs()

◆ receiveImuObsWDelta()

◆ receiveObs()

◆ receivePosVelAtt()

◆ resetNode()

◆ restore()

◆ save()

◆ type()