Receiver Clock System Model. More...

Public Member Functions
std::pair< KeyedMatrix2d< StateKeyType >, KeyedMatrix2d< StateKeyType > >	calcPhiAndQ (double dt, SatelliteSystem satSys, SystemModelCalcAlgorithm algorithm)
	Calculates the state transition matrix (𝚽) and the process noise covariance matrix (𝐐)

void	initialize ()
	Initializes the receiver clock model.

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

Private Member Functions
KeyedMatrix< double, StateKeyType, StateKeyType, 2, 2 >	calcProcessNoiseMatrixTaylor (double dt, const SatelliteSystem &satSys, const std::vector< StateKeyType > &keys) const
	Calculates the process noise covariance matrix with Taylor first order.

Private Attributes
double	_covarianceClkFrequencyDrift
	Covariance of the clock frequency drift [m²/s³].

double	_covarianceClkPhaseDrift
	Covariance of the clock phase drift [m²/s].

double	_gui_covarianceClkFrequencyDrift
	GUI selection for the Standard deviation of the clock frequency drift.

Units::CovarianceClkFrequencyDriftUnits	_gui_covarianceClkFrequencyDriftUnit
	Gui selection for the Unit of the input covarianceClkFrequencyDrift parameter.

double	_gui_covarianceClkPhaseDrift
	GUI selection for the Standard deviation of the clock phase drift.

Units::CovarianceClkPhaseDriftUnits	_gui_covarianceClkPhaseDriftUnit
	Gui selection for the Unit of the input covarianceClkPhaseDrift parameter.

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

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

Detailed Description

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

Receiver Clock System Model.

Definition at line 58 of file ReceiverClockModel.hpp.

Member Function Documentation

◆ calcPhiAndQ()

template<typename StateKeyType>

std::pair< KeyedMatrix2d< StateKeyType >, KeyedMatrix2d< StateKeyType > > NAV::ReceiverClockModel< StateKeyType >::calcPhiAndQ	(	double	dt,
		SatelliteSystem	satSys,
		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]	satSys	Satellite systems to use as keys
[in]	algorithm	Algorithm to use for the calculation

Returns: Phi and Q matrix

Definition at line 153 of file ReceiverClockModel.hpp.

◆ calcProcessNoiseMatrixTaylor()

template<typename StateKeyType>

KeyedMatrix< double, StateKeyType, StateKeyType, 2, 2 > NAV::ReceiverClockModel< StateKeyType >::calcProcessNoiseMatrixTaylor	(	double	dt,
		const SatelliteSystem &	satSys,
		const std::vector< StateKeyType > &	keys ) const

inlinenodiscardprivate

Calculates the process noise covariance matrix with Taylor first order.

Parameters

[in]	dt	Time step size in [s]
[in]	satSys	Satellite system to update the keys for
[in]	keys	List of keys (bias, drift)

Definition at line 232 of file ReceiverClockModel.hpp.

◆ initialize() [1/2]

template<typename StateKeyType>

void NAV::ReceiverClockModel< StateKeyType >::initialize ( )

inline

Initializes the receiver clock model.

Definition at line 62 of file ReceiverClockModel.hpp.

◆ initialize() [2/2]

template<typename StateKeyType>

template<typename Scalar, int Size>

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

inline

Initializes the receiver clock model.

Parameters

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

Definition at line 75 of file ReceiverClockModel.hpp.

◆ ShowGui()

template<typename StateKeyType>

bool NAV::ReceiverClockModel< 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

Definition at line 177 of file ReceiverClockModel.hpp.

◆ updatePhiAndQ()

template<typename StateKeyType>

template<typename Scalar, int Size>

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

inline

Updates the provided Phi and Q matrix.

Parameters

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

Definition at line 106 of file ReceiverClockModel.hpp.

Friends And Related Symbol Documentation

◆ from_json

template<typename StateKeyType>

void from_json	(	const json &	j,
		ReceiverClockModel< 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

Definition at line 280 of file ReceiverClockModel.hpp.

◆ to_json

template<typename StateKeyType>

void to_json	(	json &	j,
		const ReceiverClockModel< 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

Definition at line 267 of file ReceiverClockModel.hpp.

Field Documentation

◆ _covarianceClkFrequencyDrift

template<typename StateKeyType>

double NAV::ReceiverClockModel< StateKeyType >::_covarianceClkFrequencyDrift

private

Covariance of the clock frequency drift [m²/s³].

Definition at line 262 of file ReceiverClockModel.hpp.

◆ _covarianceClkPhaseDrift

template<typename StateKeyType>

double NAV::ReceiverClockModel< StateKeyType >::_covarianceClkPhaseDrift

private

Covariance of the clock phase drift [m²/s].

Definition at line 254 of file ReceiverClockModel.hpp.

◆ _gui_covarianceClkFrequencyDrift

template<typename StateKeyType>

double NAV::ReceiverClockModel< StateKeyType >::_gui_covarianceClkFrequencyDrift

private

GUI selection for the Standard deviation of the clock frequency drift.

Definition at line 259 of file ReceiverClockModel.hpp.

◆ _gui_covarianceClkFrequencyDriftUnit

template<typename StateKeyType>

Units::CovarianceClkFrequencyDriftUnits NAV::ReceiverClockModel< StateKeyType >::_gui_covarianceClkFrequencyDriftUnit

private

Gui selection for the Unit of the input covarianceClkFrequencyDrift parameter.

Definition at line 257 of file ReceiverClockModel.hpp.

◆ _gui_covarianceClkPhaseDrift

template<typename StateKeyType>

double NAV::ReceiverClockModel< StateKeyType >::_gui_covarianceClkPhaseDrift

private

GUI selection for the Standard deviation of the clock phase drift.

Definition at line 251 of file ReceiverClockModel.hpp.

◆ _gui_covarianceClkPhaseDriftUnit

template<typename StateKeyType>

Units::CovarianceClkPhaseDriftUnits NAV::ReceiverClockModel< StateKeyType >::_gui_covarianceClkPhaseDriftUnit

private

Gui selection for the Unit of the input covarianceClkPhaseDrift parameter.

Definition at line 249 of file ReceiverClockModel.hpp.

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

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Function Documentation

◆ calcPhiAndQ()

◆ calcProcessNoiseMatrixTaylor()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ ShowGui()

◆ updatePhiAndQ()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json

Field Documentation

◆ _covarianceClkFrequencyDrift

◆ _covarianceClkPhaseDrift

◆ _gui_covarianceClkFrequencyDrift

◆ _gui_covarianceClkFrequencyDriftUnit

◆ _gui_covarianceClkPhaseDrift

◆ _gui_covarianceClkPhaseDriftUnit