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

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

Public Member Functions
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.

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< 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)

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

void	setAttitude_e_Quat_b (const Eigen::Quaterniond &e_Quat_b)
	Set the Quaternion from body to earth frame.

void	setAttitude_n_Quat_b (const Eigen::Quaterniond &n_Quat_b)
	Set the Quaternion from body to navigation frame.

void	setState_e (const Eigen::Vector3d &e_position, const Eigen::Vector3d &e_velocity, const Eigen::Quaterniond &e_Quat_b)
	Set the State.

void	setState_n (const Eigen::Vector3d &lla_position, const Eigen::Vector3d &n_velocity, const Eigen::Quaterniond &n_Quat_b)
	Set the State.

void	setStateAndCovariance_e (const Eigen::Vector3d &e_position, const Eigen::Matrix3d &e_positionCovarianceMatrix, const Eigen::Vector3d &e_velocity, const Eigen::Matrix3d &e_velocityCovarianceMatrix, const Eigen::Quaterniond &e_Quat_b)
	Set the State and the covariances.

void	setStateAndCovariance_n (const Eigen::Vector3d &lla_position, const Eigen::Matrix3d &n_positionCovarianceMatrix, const Eigen::Vector3d &n_velocity, const Eigen::Matrix3d &n_velocityCovarianceMatrix, const Eigen::Quaterniond &n_Quat_b)
	Set the State and the covariances.

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

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

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

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

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

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

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.

void	setVelocity_e (const Eigen::Vector3d &e_velocity)
	Set the Velocity in the earth frame.

void	setVelocity_n (const Eigen::Vector3d &n_velocity)
	Set the Velocity in the NED frame.

void	setVelocityAndStdDev_e (const Eigen::Vector3d &e_velocity, const Eigen::Matrix3d &e_velocityCovarianceMatrix)
	Set the Velocity in ECEF coordinates and its standard deviation.

void	setVelocityAndStdDev_n (const Eigen::Vector3d &n_velocity, const Eigen::Matrix3d &n_velocityCovarianceMatrix)
	Set the Velocity in NED coordinates and its standard deviation.

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< States::StateKeys, States::StateKeys > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.

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

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

std::optional< std::reference_wrapper< const 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 ECEF coordinates.

void	setPosition_e (const Eigen::Vector3d &e_position)
	Set the Position in coordinates.

void	setPosition_lla (const Eigen::Vector3d &lla_position)
	Set the Position lla object.

void	setPositionAndStdDev_e (const Eigen::Vector3d &e_position, const Eigen::Matrix3d &e_positionCovarianceMatrix)
	Set the Position in ECEF coordinates and its standard deviation.

void	setPositionAndStdDev_lla (const Eigen::Vector3d &lla_position, const Eigen::Matrix3d &n_positionCovarianceMatrix)
	Set the Position in LLA coordinates and its standard deviation.

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.

	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	~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.

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

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

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

Frame	frame
	Frame in which the errors are set.

Eigen::Vector3d	positionError

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

Public Attributes inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.

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

Detailed Description

Loosely-coupled Kalman Filter INS/GNSS errors.

Member Enumeration Documentation

◆ Frame

enum class NAV::InsGnssLCKFSolution::Frame : int

strong

Available Frames.

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

Member Function Documentation

◆ getValueAt()

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

inlineoverridevirtual

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.

◆ parentTypes()

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

inlinestatic

Returns the parent types of the data class.

Returns: The parent data types

◆ type()

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

inlinestatic

Returns the type of the data class.

Returns: The data type

Member Data Documentation

◆ 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]

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

Public Attributes

Additional Inherited Members