Motion System Model. More...

Public Member Functions
std::pair< KeyedMatrix6d< StateKeyType >, KeyedMatrix6d< StateKeyType > >	calcPhiAndQ (double dt, const double &latitude, const double &longitude, SystemModelCalcAlgorithm algorithm)
	Calculates the state transition matrix (𝚽) and the process noise covariance matrix (𝐐)

template<typename Scalar , int Size>
void	initialize (KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &F, KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &W)
	Initializes the motion model.

bool	ShowGui (float itemWidth, float unitWidth, const char *id)
	Shows a GUI.

template<typename Scalar , int Size>
void	updatePhiAndQ (KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &Phi, KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &Q, KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &G, const KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &F, const KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &W, double dt, const double &latitude, const double &longitude, SystemModelCalcAlgorithm algorithm)
	Updates the provided Phi, Q and G matrix.

Private Member Functions
KeyedMatrix6d< StateKeyType >	calcProcessNoiseMatrixTaylor (double dt, double latitude, double longitude) const
	Calculates the process noise matrix Q.

Private Attributes
std::array< double, 2 >	_covarianceAccel
	Covariance of the acceleration 𝜎_a due to user motion in horizontal and vertical component [m²/s³].

std::array< double, 2 >	_gui_covarianceAccel
	GUI selection for the Standard deviation of the acceleration 𝜎_a due to user motion in horizontal and vertical component.

Units::CovarianceAccelUnits	_gui_covarianceAccelUnit
	Gui selection for the Unit of the input covarianceAccel parameter for the StDev due to acceleration due to user motion.

const std::vector< StateKeyType > &	Pos
	All position keys.

const std::vector< StateKeyType > &	PosVel
	All position and velocity keys.

const std::vector< StateKeyType > &	Vel
	All velocity keys.

Friends
void	from_json (const json &j, MotionModel &data)
	Converts the provided json object into the data object.

void	to_json (json &j, const MotionModel &data)
	Converts the provided data into a json object.

Detailed Description

template<typename StateKeyType>
class NAV::MotionModel< StateKeyType >

Motion System Model.

Member Function Documentation

◆ calcPhiAndQ()

template<typename StateKeyType >

std::pair< KeyedMatrix6d< StateKeyType >, KeyedMatrix6d< StateKeyType > > NAV::MotionModel< StateKeyType >::calcPhiAndQ	(	double	dt,
		const double &	latitude,
		const double &	longitude,
		SystemModelCalcAlgorithm	algorithm )

inlinenodiscard

Calculates the state transition matrix (𝚽) and the process noise covariance matrix (𝐐)

Parameters

[in]	dt	Time step size in [s]
[in]	latitude	Latitude [rad]
[in]	longitude	Longitude [rad]
[in]	algorithm	Algorithm to use for the calculation

Returns: Phi and Q matrix

◆ calcProcessNoiseMatrixTaylor()

template<typename StateKeyType >

KeyedMatrix6d< StateKeyType > NAV::MotionModel< StateKeyType >::calcProcessNoiseMatrixTaylor	(	double	dt,
		double	latitude,
		double	longitude ) const

inlinenodiscardprivate

Calculates the process noise matrix Q.

Parameters

[in]	dt	Time step [s]
[in]	latitude	Latitude [rad]
[in]	longitude	Longitude [rad]

Note: See [17] Groves, ch. 9.4.2.2, eq. 9.152, p. 417

◆ initialize()

template<typename StateKeyType >

template<typename Scalar , int Size>

void NAV::MotionModel< StateKeyType >::initialize	(	KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	F,
		KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	W )

inline

Initializes the motion model.

Parameters

[in,out]	F	System model matrix
[in,out]	W	Noise scale matrix

◆ ShowGui()

template<typename StateKeyType >

bool NAV::MotionModel< StateKeyType >::ShowGui	(	float	itemWidth,
		float	unitWidth,
		const char *	id )

inline

Shows a GUI.

Parameters

[in]	itemWidth	Width of the space for the config items
[in]	unitWidth	Width of the units
[in]	id	Unique id for ImGui

Returns: True if something was changed

◆ updatePhiAndQ()

template<typename StateKeyType >

template<typename Scalar , int Size>

void NAV::MotionModel< StateKeyType >::updatePhiAndQ	(	KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	Phi,
		KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	Q,
		KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	G,
		const KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	F,
		const KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	W,
		double	dt,
		const double &	latitude,
		const double &	longitude,
		SystemModelCalcAlgorithm	algorithm )

inline

Updates the provided Phi, Q and G matrix.

Parameters

[in,out]	Phi	State transition matrix
[in,out]	Q	System/Process noise covariance matrix
[in,out]	G	Noise input matrix
[in]	F	System model matrix
[in]	W	Noise scale matrix
[in]	dt	Time step size in [s]
[in]	latitude	Latitude [rad]
[in]	longitude	Longitude [rad]
[in]	algorithm	Algorithm to use for the calculation

Friends And Related Symbol Documentation

◆ from_json

template<typename StateKeyType >

void from_json	(	const json &	j,
		MotionModel< StateKeyType > &	data )

friend

Converts the provided json object into the data object.

Parameters

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

◆ to_json

template<typename StateKeyType >

void to_json	(	json &	j,
		const MotionModel< StateKeyType > &	data )

friend

Converts the provided data into a json object.

Parameters

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

Member Data Documentation

◆ _gui_covarianceAccel

template<typename StateKeyType >

std::array<double, 2> NAV::MotionModel< StateKeyType >::_gui_covarianceAccel

private

GUI selection for the Standard deviation of the acceleration 𝜎_a due to user motion in horizontal and vertical component.

Note: See Groves (2013) eq. (9.156)

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/SystemModel/MotionModel.hpp

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Function Documentation

◆ calcPhiAndQ()

◆ calcProcessNoiseMatrixTaylor()

◆ initialize()

◆ ShowGui()

◆ updatePhiAndQ()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json

Member Data Documentation

◆ _gui_covarianceAccel