NAV::GnssMeasurementErrorModel Class Reference

Errors concerning GNSS observations. More...

Public Types
enum	Model : int {   None ,   SINE ,   SINE_OFFSET ,   SINE_CN0 ,   RTKLIB ,   SINE_TYPE ,   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.

Detailed Description

Errors concerning GNSS observations.

Member Enumeration Documentation

Model

enum NAV::GnssMeasurementErrorModel::Model : int

Models.

Enumerator
None	Measurement error model turned off.
SINE	Sine. See [36] Dach 2015.
SINE_OFFSET	Sine with offset. See [49] 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 [42] RTKLIB ch. E.6, eq. E.6.24, p. 162.
SINE_TYPE	Sine Type. See [38] King and Bock 2001.
SINE_SQRT	Sine square-root. See [24] 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.

Member Function Documentation

carrierMeasErrorVar()

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

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]

codeBiasErrorVar()

double NAV::GnssMeasurementErrorModel::codeBiasErrorVar

(

)

const

Returns the Code Bias Error Variance.

Returns

Variance of the code bias error [m^2]

psrMeasErrorVar()

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

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]

psrRateMeasErrorVar()

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

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]

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

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

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