Cycle-slip detection. More...

Data Structures
struct	SignalDetector
	Signal Detector struct. More...

Public Types
using	Strategy
	Strategies for fitting.

Public Member Functions
PolynomialCycleSlipDetectorResult	checkForCycleSlip (const Key &key, InsTime insTime, double measurementDifference, double threshold)
	Checks for a cycle slip.
void	clear ()
	Empties the collected polynomials.
std::optional< size_t >	getDataSize (const Key &key) const
	Get the amount of data collected.
Strategy	getFitStrategy () const
	Get the strategy used for fitting.
size_t	getPolynomialDegree () const
	Get the degree of the polynomial which is used for fitting.
size_t	getWindowSize () const
	Get the window size for the polynomial fit.
bool	isEnabled () const
	Is the cycle-slip detector enabled?
	PolynomialCycleSlipDetector (size_t windowSize, size_t polyDegree, bool enabled=true)
	Constructor.
void	reset (const Key &key)
	Reset the polynomial for the given combination.
bool	resetAfterCycleSlip () const
	Whether to discard all data after a cycle-slip.
void	setEnabled (bool enabled)
	Sets the enabled state.
void	setFitStrategy (Strategy strategy)
	Sets the strategy used for fitting.
void	setPolynomialDegree (size_t polyDegree)
	Sets the degree of the polynomial which is used for fitting.
void	setResetAfterCycleSlip (bool reset)
	Sets whether to discard all data after a cycle-slip.
void	setWindowSize (size_t windowSize)
	Sets the amount of points used for the fit (sliding window)

Private Member Functions
void	addMeasurement (const Key &key, InsTime insTime, double measurementDifference)
	Add a measurement to the polynomial fit.
std::optional< Polynomial< double > >	calcPolynomial (const Key &key) const
	Calculates the polynomial from the collected data.
std::optional< double >	calcRelativeTime (const Key &key, const InsTime &insTime) const
	Calculate the relative time to the start time of the detector.
std::optional< double >	predictValue (const Key &key, const InsTime &insTime) const
	Predicts a value from the collected data and polynomial fit.

Static Private Member Functions
static double	calcRelativeTime (const InsTime &insTime, const SignalDetector &detector)
	Calculate the relative time to the start time of the detector.

Private Attributes
unordered_map< Key, SignalDetector >	_detectors
	Detectors, one for each key.
bool	_enabled
	Whether the cycle-slip detector is enabled.
size_t	_polyDegree
	Polynomial degree to fit.
bool	_resetAfterCycleSlip
	Whether to discard all data after a cycle-slip.
Strategy	_strategy
	Strategy used for fitting.
size_t	_windowSize
	Window size for the sliding window.

Friends
class	CycleSlipDetector
class	GnssAnalyzer

Detailed Description

template<typename Key>
class NAV::PolynomialCycleSlipDetector< Key >

Cycle-slip detection.

Definition at line 48 of file PolynomialCycleSlipDetector.hpp.

Member Typedef Documentation

◆ Strategy

template<typename Key>

using NAV::PolynomialCycleSlipDetector< Key >::Strategy

Strategies for fitting.

Definition at line 165 of file PolynomialCycleSlipDetector.hpp.

Constructor & Destructor Documentation

◆ PolynomialCycleSlipDetector()

template<typename Key>

NAV::PolynomialCycleSlipDetector< Key >::PolynomialCycleSlipDetector	(	size_t	windowSize,
		size_t	polyDegree,
		bool	enabled = true )

inlineexplicit

Constructor.

Parameters

[in]	windowSize	Amount of points to use for the fit (sliding window)
[in]	polyDegree	Polynomial degree to fit
[in]	enabled	Whether the detector is enabled

Definition at line 55 of file PolynomialCycleSlipDetector.hpp.

Member Function Documentation

◆ addMeasurement()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::addMeasurement	(	const Key &	key,
		InsTime	insTime,
		double	measurementDifference )

inlineprivate

Add a measurement to the polynomial fit.

Parameters

[in]	key	Key of the detector
[in]	insTime	Time of the measurement
[in]	measurementDifference	Measurement difference

Definition at line 256 of file PolynomialCycleSlipDetector.hpp.

◆ calcPolynomial()

template<typename Key>

std::optional< Polynomial< double > > NAV::PolynomialCycleSlipDetector< Key >::calcPolynomial ( const Key & key ) const

inlinenodiscardprivate

Calculates the polynomial from the collected data.

Parameters

[in] key Key of the detector

Definition at line 245 of file PolynomialCycleSlipDetector.hpp.

◆ calcRelativeTime() [1/2]

template<typename Key>

double NAV::PolynomialCycleSlipDetector< Key >::calcRelativeTime	(	const InsTime &	insTime,
		const SignalDetector &	detector )

inlinestaticnodiscardprivate

Calculate the relative time to the start time of the detector.

Parameters

[in]	insTime	Time of the measurement
[in]	detector	Detector to use

Definition at line 215 of file PolynomialCycleSlipDetector.hpp.

◆ calcRelativeTime() [2/2]

template<typename Key>

std::optional< double > NAV::PolynomialCycleSlipDetector< Key >::calcRelativeTime	(	const Key &	key,
		const InsTime &	insTime ) const

inlinenodiscardprivate

Calculate the relative time to the start time of the detector.

Parameters

[in]	key	Key of the detector
[in]	insTime	Time of the measurement

Definition at line 222 of file PolynomialCycleSlipDetector.hpp.

◆ checkForCycleSlip()

template<typename Key>

PolynomialCycleSlipDetectorResult NAV::PolynomialCycleSlipDetector< Key >::checkForCycleSlip	(	const Key &	key,
		InsTime	insTime,
		double	measurementDifference,
		double	threshold )

inlinenodiscard

Checks for a cycle slip.

Parameters

[in]	key	Key of the detector
[in]	insTime	Time of the measurement
[in]	measurementDifference	Measurement difference
[in]	threshold	Threshold to categorize a measurement as cycle slip

Returns: Cycle-slip result

Definition at line 64 of file PolynomialCycleSlipDetector.hpp.

◆ clear()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::clear ( )

inline

Empties the collected polynomials.

Definition at line 99 of file PolynomialCycleSlipDetector.hpp.

◆ getDataSize()

template<typename Key>

std::optional< size_t > NAV::PolynomialCycleSlipDetector< Key >::getDataSize ( const Key & key ) const

inlinenodiscard

Get the amount of data collected.

Parameters

[in] key Key of the detector

Definition at line 182 of file PolynomialCycleSlipDetector.hpp.

◆ getFitStrategy()

template<typename Key>

Strategy NAV::PolynomialCycleSlipDetector< Key >::getFitStrategy ( ) const

inlinenodiscard

Get the strategy used for fitting.

Definition at line 168 of file PolynomialCycleSlipDetector.hpp.

◆ getPolynomialDegree()

template<typename Key>

size_t NAV::PolynomialCycleSlipDetector< Key >::getPolynomialDegree ( ) const

inlinenodiscard

Get the degree of the polynomial which is used for fitting.

Definition at line 152 of file PolynomialCycleSlipDetector.hpp.

◆ getWindowSize()

template<typename Key>

size_t NAV::PolynomialCycleSlipDetector< Key >::getWindowSize ( ) const

inlinenodiscard

Get the window size for the polynomial fit.

Definition at line 139 of file PolynomialCycleSlipDetector.hpp.

◆ isEnabled()

template<typename Key>

bool NAV::PolynomialCycleSlipDetector< Key >::isEnabled ( ) const

inlinenodiscard

Is the cycle-slip detector enabled?

Definition at line 115 of file PolynomialCycleSlipDetector.hpp.

◆ predictValue()

template<typename Key>

std::optional< double > NAV::PolynomialCycleSlipDetector< Key >::predictValue	(	const Key &	key,
		const InsTime &	insTime ) const

inlinenodiscardprivate

Predicts a value from the collected data and polynomial fit.

Parameters

[in]	key	Key of the detector
[in]	insTime	Time of the measurement

Definition at line 232 of file PolynomialCycleSlipDetector.hpp.

◆ reset()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::reset ( const Key & key )

inline

Reset the polynomial for the given combination.

Parameters

[in] key Key of the detector

Definition at line 106 of file PolynomialCycleSlipDetector.hpp.

◆ resetAfterCycleSlip()

template<typename Key>

bool NAV::PolynomialCycleSlipDetector< Key >::resetAfterCycleSlip ( ) const

inlinenodiscard

Whether to discard all data after a cycle-slip.

Definition at line 127 of file PolynomialCycleSlipDetector.hpp.

◆ setEnabled()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::setEnabled ( bool enabled )

inline

Sets the enabled state.

Parameters

[in] enabled Whether to enabled or not

Definition at line 121 of file PolynomialCycleSlipDetector.hpp.

◆ setFitStrategy()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::setFitStrategy ( Strategy strategy )

inline

Sets the strategy used for fitting.

Parameters

[in] strategy Strategy for fitting

Definition at line 171 of file PolynomialCycleSlipDetector.hpp.

◆ setPolynomialDegree()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::setPolynomialDegree ( size_t polyDegree )

inline

Sets the degree of the polynomial which is used for fitting.

Parameters

[in] polyDegree Polynomial degree to fit

Definition at line 155 of file PolynomialCycleSlipDetector.hpp.

◆ setResetAfterCycleSlip()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::setResetAfterCycleSlip ( bool reset )

inline

Sets whether to discard all data after a cycle-slip.

Parameters

[in] reset Whether to reset or not

Definition at line 133 of file PolynomialCycleSlipDetector.hpp.

◆ setWindowSize()

template<typename Key>

void NAV::PolynomialCycleSlipDetector< Key >::setWindowSize ( size_t windowSize )

inline

Sets the amount of points used for the fit (sliding window)

Parameters

[in] windowSize Amount of points to use for the fit

Definition at line 142 of file PolynomialCycleSlipDetector.hpp.

◆ CycleSlipDetector

template<typename Key>

friend class CycleSlipDetector

friend

Definition at line 265 of file PolynomialCycleSlipDetector.hpp.

◆ GnssAnalyzer

template<typename Key>

friend class GnssAnalyzer

friend

Definition at line 264 of file PolynomialCycleSlipDetector.hpp.

Field Documentation

◆ _detectors

template<typename Key>

unordered_map<Key, SignalDetector> NAV::PolynomialCycleSlipDetector< Key >::_detectors

private

Detectors, one for each key.

Definition at line 210 of file PolynomialCycleSlipDetector.hpp.

◆ _enabled

template<typename Key>

bool NAV::PolynomialCycleSlipDetector< Key >::_enabled

private

Whether the cycle-slip detector is enabled.

Definition at line 205 of file PolynomialCycleSlipDetector.hpp.

◆ _polyDegree

template<typename Key>

size_t NAV::PolynomialCycleSlipDetector< Key >::_polyDegree

private

Polynomial degree to fit.

Definition at line 208 of file PolynomialCycleSlipDetector.hpp.

◆ _resetAfterCycleSlip

template<typename Key>

bool NAV::PolynomialCycleSlipDetector< Key >::_resetAfterCycleSlip

private

Whether to discard all data after a cycle-slip.

Definition at line 206 of file PolynomialCycleSlipDetector.hpp.

◆ _strategy

template<typename Key>

Strategy NAV::PolynomialCycleSlipDetector< Key >::_strategy

private

Strategy used for fitting.

Definition at line 209 of file PolynomialCycleSlipDetector.hpp.

◆ _windowSize

template<typename Key>

size_t NAV::PolynomialCycleSlipDetector< Key >::_windowSize

private

Window size for the sliding window.

Definition at line 207 of file PolynomialCycleSlipDetector.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Ambiguity/CycleSlipDetector/PolynomialCycleSlipDetector.hpp

Data Structures

Public Types

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Strategy

Constructor & Destructor Documentation

◆ PolynomialCycleSlipDetector()

Member Function Documentation

◆ addMeasurement()

◆ calcPolynomial()

◆ calcRelativeTime() [1/2]

◆ calcRelativeTime() [2/2]

◆ checkForCycleSlip()

◆ clear()

◆ getDataSize()

◆ getFitStrategy()

◆ getPolynomialDegree()

◆ getWindowSize()

◆ isEnabled()

◆ predictValue()

◆ reset()

◆ resetAfterCycleSlip()

◆ setEnabled()

◆ setFitStrategy()

◆ setPolynomialDegree()

◆ setResetAfterCycleSlip()

◆ setWindowSize()

Friends And Related Symbol Documentation

◆ CycleSlipDetector

◆ GnssAnalyzer

Field Documentation

◆ _detectors

◆ _enabled

◆ _polyDegree

◆ _resetAfterCycleSlip

◆ _strategy

◆ _windowSize