Cycle-slip detection. More...

Classes
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.

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.

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	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.

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.

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

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

◆ 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

◆ calcRelativeTime() [1/2]

template<typename Key >

static 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

◆ 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

◆ 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

◆ 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

◆ 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

◆ setEnabled()

template<typename Key >

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

inline

Sets the enabled state.

Parameters

[in] enabled Whether to enabled or not

◆ setFitStrategy()

template<typename Key >

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

inline

Sets the strategy used for fitting.

Parameters

[in] strategy Strategy for fitting

◆ 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

◆ 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

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

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

Classes

Public Types

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ PolynomialCycleSlipDetector()

Member Function Documentation

◆ addMeasurement()

◆ calcPolynomial()

◆ calcRelativeTime() [1/2]

◆ calcRelativeTime() [2/2]

◆ checkForCycleSlip()

◆ predictValue()

◆ reset()

◆ setEnabled()

◆ setFitStrategy()

◆ setPolynomialDegree()

◆ setWindowSize()