NAV::ReceiverClockModel< StateKeyType > Class Template Reference

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)
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.

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

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)

initialize()

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

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

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

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

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

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

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