Loosely-coupled Kalman Filter INS/GNSS errors. More...

Public Types
enum class	Frame : uint8_t { ECEF , NED }
	Available Frames. More...

Public Member Functions
std::string	getType () const override
	Returns the type of the data class.

std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.

std::vector< std::string >	staticDataDescriptors () const override
	Returns a vector of data descriptors.

size_t	staticDescriptorCount () const override
	Get the amount of descriptors.

Public Member Functions inherited from NAV::PosVelAtt
Eigen::Quaterniond	b_Quat_e () const
	Returns the Quaternion from Earth-fixed to body frame.

Eigen::Quaterniond	b_Quat_n () const
	Returns the Quaternion from navigation to body frame (NED)

const Eigen::Quaterniond &	e_Quat_b () const
	Returns the Quaternion from body to Earth-fixed frame.

std::optional< Eigen::Vector4d >	e_QuatStdev () const
	Returns the standard deviation of the Quaternion body to earth frame (x, y, z, w)

std::string	getType () const override
	Returns the type of the data class.

std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.

const Eigen::Quaterniond &	n_Quat_b () const
	Returns the Quaternion from body to navigation frame (NED)

std::optional< Eigen::Vector4d >	n_QuatStdev () const
	Returns the standard deviation of the Quaternion body to navigation frame (roll, pitch, yaw) (x, y, z, w)

Eigen::Vector3d	rollPitchYaw () const
	Returns the Roll, Pitch and Yaw angles in [rad].

template<typename Derived>
void	setAttitude_e_Quat_b (const Eigen::QuaternionBase< Derived > &e_Quat_b)
	Set the Quaternion from body to earth frame.

template<typename Derived>
void	setAttitude_n_Quat_b (const Eigen::QuaternionBase< Derived > &n_Quat_b)
	Set the Quaternion from body to navigation frame.

template<typename DerivedP, typename DerivedV, typename DerivedA>
void	setPosVelAtt_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::QuaternionBase< DerivedA > &e_Quat_b)
	Set the position, velocity and attitude.

template<typename DerivedP, typename DerivedV, typename DerivedA>
void	setPosVelAtt_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::QuaternionBase< DerivedA > &n_Quat_b)
	Set the position, velocity and attitude.

template<typename DerivedP, typename DerivedV, typename DerivedA, typename Derived>
void	setPosVelAttAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::QuaternionBase< DerivedA > &e_Quat_b, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position, velocity, attitude and the covariance matrix.

template<typename DerivedP, typename DerivedV, typename DerivedA, typename Derived>
void	setPosVelAttAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::QuaternionBase< DerivedA > &n_Quat_b, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position, velocity, attitude and the covariance matrix.

template<typename Derived>
void	setPosVelAttCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.

template<typename Derived>
void	setPosVelAttCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.

bool	setValueAt (size_t idx, double value) override
	Set the value at the index.

std::vector< std::string >	staticDataDescriptors () const override
	Returns a vector of data descriptors.

size_t	staticDescriptorCount () const override
	Get the amount of descriptors.

Public Member Functions inherited from NAV::PosVel
const Eigen::Vector3d &	e_velocity () const
	Returns the velocity in [m/s], in earth coordinates.

std::optional< Eigen::Vector3d >	e_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in earth coordinates.

const Eigen::Vector3d &	n_velocity () const
	Returns the velocity in [m/s], in navigation coordinates.

std::optional< Eigen::Vector3d >	n_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in navigation coordinates.

template<typename DerivedP, typename DerivedV>
void	setPosVel_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity)
	Set the position and velocity.

template<typename DerivedP, typename DerivedV>
void	setPosVel_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity)
	Set the position and velocity.

template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position, velocity and the covariance matrix.

template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position, velocity and the covariance matrix.

template<typename Derived>
void	setPosVelCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.

template<typename Derived>
void	setPosVelCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.

template<typename Derived>
void	setVelocity_e (const Eigen::MatrixBase< Derived > &e_velocity)
	Set the Velocity in the earth frame.

template<typename Derived>
void	setVelocity_n (const Eigen::MatrixBase< Derived > &n_velocity)
	Set the Velocity in the NED frame.

Public Member Functions inherited from NAV::Pos
const double &	altitude () const
	Returns the altitude (height above ground) in [m].

std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.

const Eigen::Vector3d &	e_position () const
	Returns the coordinates in [m].

std::optional< Eigen::Vector3d >	e_positionStdev () const
	Returns the standard deviation of the position in ECEF frame coordinates in [m].

Eigen::Quaterniond	e_Quat_n () const
	Returns the Quaternion from navigation to Earth-fixed frame.

const double &	latitude () const
	Returns the latitude 𝜙 in [rad].

const Eigen::Vector3d &	lla_position () const
	Returns the latitude 𝜙, longitude λ and altitude (height above ground) in [rad, rad, m].

const double &	longitude () const
	Returns the longitude λ in [rad].

std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.

std::optional< Eigen::Vector3d >	n_positionStdev () const
	Returns the standard deviation of the position in local navigation frame coordinates in [m].

Eigen::Quaterniond	n_Quat_e () const
	Returns the Quaternion from Earth-fixed frame to navigation.

template<typename Derived>
void	setPosCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.

template<typename Derived>
void	setPosCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.

template<typename Derived>
void	setPosition_e (const Eigen::MatrixBase< Derived > &e_position)
	Set the Position in coordinates.

template<typename Derived>
void	setPosition_lla (const Eigen::MatrixBase< Derived > &lla_position)
	Set the Position lla object.

template<typename DerivedP, typename Derived>
void	setPositionAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position and the covariance matrix.

template<typename DerivedP, typename Derived>
void	setPositionAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position and the covariance matrix.

Public Member Functions inherited from NAV::NodeData
void	addEvent (const std::string &text)
	Adds the event to the list.

virtual std::vector< std::string >	dynamicDataDescriptors () const
	Returns a vector of data descriptors for the dynamic data.

const std::vector< std::string > &	events () const
	Returns a vector of string events associated with this data.

virtual std::vector< std::pair< std::string, double > >	getDynamicData () const
	Returns a vector of data descriptors and values for the dynamic data.

virtual std::optional< double >	getDynamicDataAt (const std::string &) const
	Get the value for the descriptor.

double	getValueAtOrNaN (size_t idx) const
	Get the value at the index or NaN if not in the observation.

virtual void	guiTooltip (bool detailView, bool firstOpen, const char displayName, const char id, int *rootWindow) const
	Shows a GUI tooltip to look into details of the observation.

virtual bool	hasTooltip () const
	Return whether this data has a tooltip.

	NodeData ()=default
	Default constructor.

	NodeData (const NodeData &)=default
	Copy constructor.

	NodeData (NodeData &&)=default
	Move constructor.

NodeData &	operator= (const NodeData &)=default
	Copy assignment operator.

NodeData &	operator= (NodeData &&)=default
	Move assignment operator.

virtual bool	setDynamicDataAt (const std::string &, double)
	Set the value for the descriptor.

virtual	~NodeData ()=default
	Destructor.

Static Public Member Functions
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the number of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Static Public Member Functions inherited from NAV::PosVelAtt
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Static Public Member Functions inherited from NAV::PosVel
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Static Public Member Functions inherited from NAV::Pos
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Static Public Member Functions inherited from NAV::NodeData
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Data Fields
Eigen::Vector3d	attitudeError
	δ𝛙_{i,e,n}b_{i,e,n} The attitude error in {i,e,n} frame coordinates in [rad]

UncertainValue< Eigen::Vector3d >	b_biasAccel
	𝐛_a The accelerometer bias in body frame in [m/s^2]

UncertainValue< Eigen::Vector3d >	b_biasGyro
	𝐛_g The gyroscope bias in body frame in [rad/s]

Frame	frame
	Frame in which the errors are set.

UncertainValue< double >	heightBias
	Barometric height bias in [m].

UncertainValue< double >	heightScale
	Barometric height scale in [m/m].

Eigen::Vector3d	positionError

Eigen::Vector3d	velocityError
	δ𝐯_{i,e,n} The velocity error in {i,e,n} coordinates in [m/s]

Data Fields inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.

Additional Inherited Members
Protected Attributes inherited from NAV::Pos
std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_e_covarianceMatrix
	Covariance matrix in ECEF coordinates.

std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_n_covarianceMatrix
	Covariance matrix in local navigation coordinates.

Protected Attributes inherited from NAV::NodeData
std::vector< std::string >	_events
	List of events.

Detailed Description

Loosely-coupled Kalman Filter INS/GNSS errors.

Definition at line 25 of file InsGnssLCKFSolution.hpp.

Member Enumeration Documentation

◆ Frame

enum class NAV::InsGnssLCKFSolution::Frame : uint8_t

strong

Available Frames.

Enumerator
ECEF	Earth-Centered Earth-Fixed frame.
NED	Local North-East-Down frame.

Definition at line 202 of file InsGnssLCKFSolution.hpp.

Member Function Documentation

◆ GetStaticDataDescriptors()

static std::vector< std::string > NAV::InsGnssLCKFSolution::GetStaticDataDescriptors ( )

inlinestaticnodiscard

Returns a vector of data descriptors.

Definition at line 49 of file InsGnssLCKFSolution.hpp.

◆ GetStaticDescriptorCount()

static constexpr size_t NAV::InsGnssLCKFSolution::GetStaticDescriptorCount ( )

inlinestaticnodiscardconstexpr

Get the number of descriptors.

Definition at line 92 of file InsGnssLCKFSolution.hpp.

◆ getType()

std::string NAV::InsGnssLCKFSolution::getType ( ) const

inlinenodiscardoverridevirtual

Returns the type of the data class.

Returns: The data type

Reimplemented from NAV::NodeData.

Reimplemented in NAV::InsGnssTCKFSolution.

Definition at line 37 of file InsGnssLCKFSolution.hpp.

◆ getValueAt()

std::optional< double > NAV::InsGnssLCKFSolution::getValueAt ( size_t idx ) const

inlinenodiscardoverridevirtual

Get the value at the index.

Parameters

idx	Index corresponding to data descriptor order

Returns: Value if in the observation

Reimplemented from NAV::NodeData.

Reimplemented in NAV::InsGnssTCKFSolution.

Definition at line 103 of file InsGnssLCKFSolution.hpp.

◆ parentTypes()

static std::vector< std::string > NAV::InsGnssLCKFSolution::parentTypes ( )

inlinestaticnodiscard

Returns the parent types of the data class.

Returns: The parent data types

Definition at line 41 of file InsGnssLCKFSolution.hpp.

◆ staticDataDescriptors()

std::vector< std::string > NAV::InsGnssLCKFSolution::staticDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors.

Reimplemented from NAV::NodeData.

Reimplemented in NAV::InsGnssTCKFSolution.

Definition at line 95 of file InsGnssLCKFSolution.hpp.

◆ staticDescriptorCount()

size_t NAV::InsGnssLCKFSolution::staticDescriptorCount ( ) const

inlinenodiscardoverridevirtual

Get the amount of descriptors.

Reimplemented from NAV::NodeData.

Reimplemented in NAV::InsGnssTCKFSolution.

Definition at line 98 of file InsGnssLCKFSolution.hpp.

◆ type()

static std::string NAV::InsGnssLCKFSolution::type ( )

inlinestaticnodiscard

Returns the type of the data class.

Returns: The data type

Definition at line 30 of file InsGnssLCKFSolution.hpp.

Field Documentation

◆ attitudeError

Eigen::Vector3d NAV::InsGnssLCKFSolution::attitudeError

δ𝛙_{i,e,n}b_{i,e,n} The attitude error in {i,e,n} frame coordinates in [rad]

Definition at line 211 of file InsGnssLCKFSolution.hpp.

◆ b_biasAccel

UncertainValue<Eigen::Vector3d> NAV::InsGnssLCKFSolution::b_biasAccel

𝐛_a The accelerometer bias in body frame in [m/s^2]

Definition at line 220 of file InsGnssLCKFSolution.hpp.

◆ b_biasGyro

UncertainValue<Eigen::Vector3d> NAV::InsGnssLCKFSolution::b_biasGyro

𝐛_g The gyroscope bias in body frame in [rad/s]

Definition at line 223 of file InsGnssLCKFSolution.hpp.

◆ frame

Frame NAV::InsGnssLCKFSolution::frame

Frame in which the errors are set.

Definition at line 208 of file InsGnssLCKFSolution.hpp.

◆ heightBias

UncertainValue<double> NAV::InsGnssLCKFSolution::heightBias

Barometric height bias in [m].

Definition at line 226 of file InsGnssLCKFSolution.hpp.

◆ heightScale

UncertainValue<double> NAV::InsGnssLCKFSolution::heightScale

Barometric height scale in [m/m].

Definition at line 229 of file InsGnssLCKFSolution.hpp.

◆ positionError

Eigen::Vector3d NAV::InsGnssLCKFSolution::positionError

NED: δ𝐩 = [δ𝜙 δλ δ𝘩] The position error (latitude, longitude, altitude) in [rad, rad, m] ECEF/i: δr The position error in [m]

Definition at line 216 of file InsGnssLCKFSolution.hpp.

◆ velocityError

Eigen::Vector3d NAV::InsGnssLCKFSolution::velocityError

δ𝐯_{i,e,n} The velocity error in {i,e,n} coordinates in [m/s]

Definition at line 213 of file InsGnssLCKFSolution.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/NodeData/State/InsGnssLCKFSolution.hpp

Public Types

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Frame

Member Function Documentation

◆ GetStaticDataDescriptors()

◆ GetStaticDescriptorCount()

◆ getType()

◆ getValueAt()

◆ parentTypes()

◆ staticDataDescriptors()

◆ staticDescriptorCount()

◆ type()

Field Documentation

◆ attitudeError

◆ b_biasAccel

◆ b_biasGyro

◆ frame

◆ heightBias

◆ heightScale

◆ positionError

◆ velocityError