Errors concerning GNSS observations. More...

Data Structures
struct	ModelParametersCosineType
	Model parameters for the 'cosine - type' model. More...

struct	ModelParametersExponential
	Model parameters for the 'exponential' model. More...

struct	ModelParametersRtklib
	Model parameters for the 'RTKLIB' model. More...

struct	ModelParametersSine
	Model parameters for the 'sine' model. More...

struct	ModelParametersSineCN0
	Model parameters for the 'sine + CN0' model. More...

struct	ModelParametersSineOffset
	Model parameters for the 'sine + offset' model. More...

struct	ModelParametersSineSqrt
	Model parameters for the 'sine - sqrt' model. More...

Public Types
enum	Model : uint8_t { None , SINE , SINE_OFFSET , SINE_CN0 , RTKLIB , SINE_SQRT , EXPONENTIAL , COSINE_TYPE , COUNT }
	Models. More...

Public Member Functions
double	carrierMeasErrorVar (const SatelliteSystem &satSys, double elevation, double cn0) const
	Calculates the measurement Error Variance for carrier-phase observations.

double	codeBiasErrorVar () const
	Returns the Code Bias Error Variance.

	GnssMeasurementErrorModel ()
	Default constructor.

double	psrMeasErrorVar (const SatelliteSystem &satSys, double elevation, double cn0) const
	Calculates the measurement Error Variance for pseudorange observations.

double	psrRateMeasErrorVar (const Frequency &freq, int8_t num, double elevation, double cn0) const
	Returns the Pseudo-range rate Error Variance.

bool	ShowGuiWidgets (const char *id, float width)
	Shows a GUI widgets.

Private Member Functions
void	updateStdDevCurvePlot (Model model)
	Updates the curve plot data for the given model.

double	weightingFunction (Model model, double elevation, double cn0) const
	Calculates the weighting function for the standard deviation.

Static Private Member Functions
static double	satSysErrorFactorVariance (const SatelliteSystem &satSys)
	Returns an error factor for the variance depending on the satellite system.

Private Attributes
double	_carrierStdDev
	Carrier Measurement error standard deviation per Frequency [m].

double	_codeStdDev
	Code/Pseudorange Measurement error standard deviation per Frequency [m].

double	_dopplerStdDev
	Doppler Frequency error factor [Hz] - Measurement error standard deviation.

Model	_model
	Model to use.

ModelParametersCosineType	_modelParametersCosineType
	Model parameters for the 'cosine - type' model.

ModelParametersExponential	_modelParametersExponential
	Model parameters for the 'exponential' model.

ModelParametersRtklib	_modelParametersRtklib
	Model parameters for the 'RTKLIB' model.

ModelParametersSine	_modelParametersSine
	Model parameters for the 'sine' model.

ModelParametersSineCN0	_modelParametersSineCN0
	Model parameters for the 'sine + CN0' model.

ModelParametersSineOffset	_modelParametersSineOffset
	Model parameters for the 'sine + offset' model.

ModelParametersSineSqrt	_modelParametersSineSqrt
	Model parameters for the 'sine - sqrt' model.

double	_plotCN0
	Carrier-to-Noise density [dB-Hz] to use in the plot.

std::vector< std::vector< double > >	_stdDevCurvePlot
	Standard deviations for plotting.

Static Private Attributes
static constexpr std::array< double, PLOT_SAMPLES >	_elevation
	Elevation data for plotting [rad].

static constexpr std::array< double, PLOT_SAMPLES >	_elevation_deg
	Elevation data for plotting [rad].

static constexpr size_t	PLOT_SAMPLES
	Amount of samples for the plot.

Friends
void	from_json (const json &j, GnssMeasurementErrorModel &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersCosineType &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersExponential &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersRtklib &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSine &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSineCN0 &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSineOffset &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSineSqrt &obj)
	Converts the provided json object into a node object.

void	to_json (json &j, const GnssMeasurementErrorModel &obj)
	Converts the provided object into json.

void	to_json (json &j, const ModelParametersCosineType &obj)
	Converts the provided object into json.

void	to_json (json &j, const ModelParametersExponential &obj)
	Converts the provided object into json.

void	to_json (json &j, const ModelParametersRtklib &obj)
	Converts the provided object into json.

void	to_json (json &j, const ModelParametersSine &obj)
	Converts the provided object into json.

void	to_json (json &j, const ModelParametersSineCN0 &obj)
	Converts the provided object into json.

void	to_json (json &j, const ModelParametersSineOffset &obj)
	Converts the provided object into json.

void	to_json (json &j, const ModelParametersSineSqrt &obj)
	Converts the provided object into json.

Detailed Description

Errors concerning GNSS observations.

Definition at line 30 of file MeasurementErrors.hpp.

Member Enumeration Documentation

◆ Model

enum NAV::GnssMeasurementErrorModel::Model : uint8_t

Models.

Enumerator
None	Measurement error model turned off.
SINE	Sine. See [39] Dach 2015.
SINE_OFFSET	Sine with offset. See [51] Zhang 2021 eq. 7, p. 3.
SINE_CN0	Sine and CN0 dependent. See [17] Groves, ch. 9.4.2.4, eq. 9.168, p. 422 (range acceleration is neglected)
RTKLIB	RTKLIB error model. See [44] RTKLIB ch. E.6, eq. E.6.24, p. 162.
SINE_SQRT	Sine square-root. See [26] Kiliszek 2022, table 2, p. 5.
EXPONENTIAL	Exponential. See [19] Euler and Goad 1991 / [4] Li et al. 2016.
COSINE_TYPE	Cosine Type. See [18] Hadas 2020 eq. 14, p. 8.
COUNT	Amount of items in the enum.

Definition at line 37 of file MeasurementErrors.hpp.

Constructor & Destructor Documentation

◆ GnssMeasurementErrorModel()

NAV::GnssMeasurementErrorModel::GnssMeasurementErrorModel ( )

Default constructor.

Definition at line 27 of file MeasurementErrors.cpp.

Member Function Documentation

◆ carrierMeasErrorVar()

double NAV::GnssMeasurementErrorModel::carrierMeasErrorVar	(	const SatelliteSystem &	satSys,
		double	elevation,
		double	cn0 ) const

nodiscard

Calculates the measurement Error Variance for carrier-phase observations.

Parameters

[in]	satSys	Satellite System
[in]	elevation	Satellite Elevation in [rad]
[in]	cn0	Carrier-to-Noise density [dB-Hz]

Returns: Variance of the measurement error [m^2]

Definition at line 40 of file MeasurementErrors.cpp.

◆ codeBiasErrorVar()

double NAV::GnssMeasurementErrorModel::codeBiasErrorVar ( ) const

nodiscard

Returns the Code Bias Error Variance.

Returns: Variance of the code bias error [m^2]

Definition at line 51 of file MeasurementErrors.cpp.

◆ psrMeasErrorVar()

double NAV::GnssMeasurementErrorModel::psrMeasErrorVar	(	const SatelliteSystem &	satSys,
		double	elevation,
		double	cn0 ) const

nodiscard

Calculates the measurement Error Variance for pseudorange observations.

Parameters

[in]	satSys	Satellite System
[in]	elevation	Satellite Elevation in [rad]
[in]	cn0	Carrier-to-Noise density [dB-Hz]

Returns: Variance of the measurement error [m^2]

Definition at line 35 of file MeasurementErrors.cpp.

◆ psrRateMeasErrorVar()

double NAV::GnssMeasurementErrorModel::psrRateMeasErrorVar	(	const Frequency &	freq,
		int8_t	num,
		double	elevation,
		double	cn0 ) const

nodiscard

Returns the Pseudo-range rate Error Variance.

Parameters

[in]	freq	Frequency the measurement originates from
[in]	num	Frequency number. Only used for GLONASS G1 and G2
[in]	elevation	Satellite Elevation in [rad]
[in]	cn0	Carrier-to-Noise density [dB-Hz]

Returns: Variance of the Pseudo-range rate error [m^2/s^2]

Definition at line 45 of file MeasurementErrors.cpp.

◆ satSysErrorFactorVariance()

double NAV::GnssMeasurementErrorModel::satSysErrorFactorVariance ( const SatelliteSystem & satSys )

staticnodiscardprivate

Returns an error factor for the variance depending on the satellite system.

Parameters

satSys Satellite system

Definition at line 59 of file MeasurementErrors.cpp.

◆ ShowGuiWidgets()

bool NAV::GnssMeasurementErrorModel::ShowGuiWidgets	(	const char *	id,
		float	width )

Shows a GUI widgets.

Parameters

[in]	id	Unique id for ImGui.
[in]	width	Width of the widgets

Definition at line 120 of file MeasurementErrors.cpp.

◆ updateStdDevCurvePlot()

void NAV::GnssMeasurementErrorModel::updateStdDevCurvePlot ( Model model )

private

Updates the curve plot data for the given model.

Parameters

model Error model to use

Definition at line 112 of file MeasurementErrors.cpp.

◆ weightingFunction()

double NAV::GnssMeasurementErrorModel::weightingFunction	(	Model	model,
		double	elevation,
		double	cn0 ) const

nodiscardprivate

Calculates the weighting function for the standard deviation.

Parameters

[in]	model	Model to use
[in]	elevation	Satellite Elevation in [rad]
[in]	cn0	Carrier-to-Noise density [dB-Hz]

Definition at line 83 of file MeasurementErrors.cpp.

Friends And Related Symbol Documentation

◆ from_json [1/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 372 of file MeasurementErrors.cpp.

◆ from_json [2/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersCosineType &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 476 of file MeasurementErrors.cpp.

◆ from_json [3/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersExponential &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 461 of file MeasurementErrors.cpp.

◆ from_json [4/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersRtklib &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 434 of file MeasurementErrors.cpp.

◆ from_json [5/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSine &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 394 of file MeasurementErrors.cpp.

◆ from_json [6/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSineCN0 &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 420 of file MeasurementErrors.cpp.

◆ from_json [7/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSineOffset &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 406 of file MeasurementErrors.cpp.

◆ from_json [8/8]

void from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSineSqrt &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 447 of file MeasurementErrors.cpp.

◆ to_json [1/8]

void to_json	(	json &	j,
		const GnssMeasurementErrorModel &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 354 of file MeasurementErrors.cpp.

◆ to_json [2/8]

void to_json	(	json &	j,
		const ModelParametersCosineType &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 468 of file MeasurementErrors.cpp.

◆ to_json [3/8]

void to_json	(	json &	j,
		const ModelParametersExponential &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 453 of file MeasurementErrors.cpp.

◆ to_json [4/8]

void to_json	(	json &	j,
		const ModelParametersRtklib &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 427 of file MeasurementErrors.cpp.

◆ to_json [5/8]

void to_json	(	json &	j,
		const ModelParametersSine &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 388 of file MeasurementErrors.cpp.

◆ to_json [6/8]

void to_json	(	json &	j,
		const ModelParametersSineCN0 &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 412 of file MeasurementErrors.cpp.

◆ to_json [7/8]

void to_json	(	json &	j,
		const ModelParametersSineOffset &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 399 of file MeasurementErrors.cpp.

◆ to_json [8/8]

void to_json	(	json &	j,
		const ModelParametersSineSqrt &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 440 of file MeasurementErrors.cpp.

Field Documentation

◆ _carrierStdDev

double NAV::GnssMeasurementErrorModel::_carrierStdDev

private

Carrier Measurement error standard deviation per Frequency [m].

Definition at line 86 of file MeasurementErrors.hpp.

◆ _codeStdDev

double NAV::GnssMeasurementErrorModel::_codeStdDev

private

Code/Pseudorange Measurement error standard deviation per Frequency [m].

Definition at line 88 of file MeasurementErrors.hpp.

◆ _dopplerStdDev

double NAV::GnssMeasurementErrorModel::_dopplerStdDev

private

Doppler Frequency error factor [Hz] - Measurement error standard deviation.

Definition at line 90 of file MeasurementErrors.hpp.

◆ _elevation

std::array<double, PLOT_SAMPLES> NAV::GnssMeasurementErrorModel::_elevation

staticconstexprprivate

Elevation data for plotting [rad].

Definition at line 167 of file MeasurementErrors.hpp.

◆ _elevation_deg

std::array<double, PLOT_SAMPLES> NAV::GnssMeasurementErrorModel::_elevation_deg

staticconstexprprivate

Elevation data for plotting [rad].

Definition at line 169 of file MeasurementErrors.hpp.

◆ _model

Model NAV::GnssMeasurementErrorModel::_model

private

Model to use.

Definition at line 83 of file MeasurementErrors.hpp.

◆ _modelParametersCosineType

ModelParametersCosineType NAV::GnssMeasurementErrorModel::_modelParametersCosineType

private

Model parameters for the 'cosine - type' model.

Definition at line 160 of file MeasurementErrors.hpp.

◆ _modelParametersExponential

ModelParametersExponential NAV::GnssMeasurementErrorModel::_modelParametersExponential

private

Model parameters for the 'exponential' model.

Definition at line 150 of file MeasurementErrors.hpp.

◆ _modelParametersRtklib

ModelParametersRtklib NAV::GnssMeasurementErrorModel::_modelParametersRtklib

private

Model parameters for the 'RTKLIB' model.

Definition at line 131 of file MeasurementErrors.hpp.

◆ _modelParametersSine

ModelParametersSine NAV::GnssMeasurementErrorModel::_modelParametersSine

private

Model parameters for the 'sine' model.

Definition at line 103 of file MeasurementErrors.hpp.

◆ _modelParametersSineCN0

ModelParametersSineCN0 NAV::GnssMeasurementErrorModel::_modelParametersSineCN0

private

Model parameters for the 'sine + CN0' model.

Definition at line 122 of file MeasurementErrors.hpp.

◆ _modelParametersSineOffset

ModelParametersSineOffset NAV::GnssMeasurementErrorModel::_modelParametersSineOffset

private

Model parameters for the 'sine + offset' model.

Definition at line 112 of file MeasurementErrors.hpp.

◆ _modelParametersSineSqrt

ModelParametersSineSqrt NAV::GnssMeasurementErrorModel::_modelParametersSineSqrt

private

Model parameters for the 'sine - sqrt' model.

Definition at line 140 of file MeasurementErrors.hpp.

◆ _plotCN0

double NAV::GnssMeasurementErrorModel::_plotCN0

private

Carrier-to-Noise density [dB-Hz] to use in the plot.

Definition at line 93 of file MeasurementErrors.hpp.

◆ _stdDevCurvePlot

std::vector<std::vector<double> > NAV::GnssMeasurementErrorModel::_stdDevCurvePlot

private

Standard deviations for plotting.

Definition at line 171 of file MeasurementErrors.hpp.

◆ PLOT_SAMPLES

size_t NAV::GnssMeasurementErrorModel::PLOT_SAMPLES

staticconstexprprivate

Amount of samples for the plot.

Definition at line 165 of file MeasurementErrors.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Errors/MeasurementErrors.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Errors/MeasurementErrors.cpp

Data Structures

Public Types

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ Model

Constructor & Destructor Documentation

◆ GnssMeasurementErrorModel()

Member Function Documentation

◆ carrierMeasErrorVar()

◆ codeBiasErrorVar()

◆ psrMeasErrorVar()

◆ psrRateMeasErrorVar()

◆ satSysErrorFactorVariance()

◆ ShowGuiWidgets()

◆ updateStdDevCurvePlot()

◆ weightingFunction()

Friends And Related Symbol Documentation

◆ from_json [1/8]

◆ from_json [2/8]

◆ from_json [3/8]

◆ from_json [4/8]

◆ from_json [5/8]

◆ from_json [6/8]

◆ from_json [7/8]

◆ from_json [8/8]

◆ to_json [1/8]

◆ to_json [2/8]

◆ to_json [3/8]

◆ to_json [4/8]

◆ to_json [5/8]

◆ to_json [6/8]

◆ to_json [7/8]

◆ to_json [8/8]

Field Documentation

◆ _carrierStdDev

◆ _codeStdDev

◆ _dopplerStdDev

◆ _elevation

◆ _elevation_deg

◆ _model

◆ _modelParametersCosineType

◆ _modelParametersExponential

◆ _modelParametersRtklib

◆ _modelParametersSine

◆ _modelParametersSineCN0

◆ _modelParametersSineOffset

◆ _modelParametersSineSqrt

◆ _plotCN0

◆ _stdDevCurvePlot

◆ PLOT_SAMPLES