SPP Algorithm output. More...

Data Structures
struct	AmbiguityDD
	Ambiguity double differences. More...
struct	Observable
	Observable. More...
struct	Outlier
	Outlier information. More...
struct	PivotChange
	Pivot Change information. More...
struct	SatData
	Satellite specific data. More...

Public Types
enum class	SolutionType : uint8_t { None , SPP , Predicted , RTK_Float , RTK_Fixed }
	Possible types of the RTK solution. More...

Public Member Functions
std::vector< std::string >	dynamicDataDescriptors () const override
	Returns a vector of data descriptors for the dynamic data.
std::vector< std::pair< std::string, double > >	getDynamicData () const override
	Returns a vector of data descriptors and values for the dynamic data.
std::optional< double >	getDynamicDataAt (const std::string &descriptor) const override
	Get the value for the descriptor.
std::string	getType () const override
	Returns the type of the data class.
std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.
void	guiTooltip (bool detailView, bool firstOpen, const char displayName, const char id, int *rootWindow) const override
	Shows a GUI tooltip to look into details of the observation.
bool	hasTooltip () const override
	Return whether this data has a tooltip.
std::vector< std::string >	staticDataDescriptors () const override
	Returns a vector of data descriptors.
size_t	staticDescriptorCount () const override
	Get the amount of descriptors.
Public Member Functions inherited from NAV::PosVel
const Eigen::Vector3d &	e_velocity () const
	Returns the velocity in [m/s], in earth coordinates.
std::optional< Eigen::Vector3d >	e_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in earth coordinates.
const Eigen::Vector3d &	n_velocity () const
	Returns the velocity in [m/s], in navigation coordinates.
std::optional< Eigen::Vector3d >	n_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in navigation coordinates.
template<typename DerivedP, typename DerivedV>
void	setPosVel_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity)
	Set the position and velocity.
template<typename DerivedP, typename DerivedV>
void	setPosVel_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity)
	Set the position and velocity.
template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position, velocity and the covariance matrix.
template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position, velocity and the covariance matrix.
template<typename Derived>
void	setPosVelCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.
template<typename Derived>
void	setPosVelCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.
bool	setValueAt (size_t idx, double value) override
	Set the value at the index.
template<typename Derived>
void	setVelocity_e (const Eigen::MatrixBase< Derived > &e_velocity)
	Set the Velocity in the earth frame.
template<typename Derived>
void	setVelocity_n (const Eigen::MatrixBase< Derived > &n_velocity)
	Set the Velocity in the NED frame.
Public Member Functions inherited from NAV::Pos
const double &	altitude () const
	Returns the altitude (height above ground) in [m].
std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.
const Eigen::Vector3d &	e_position () const
	Returns the coordinates in [m].
std::optional< Eigen::Vector3d >	e_positionStdev () const
	Returns the standard deviation of the position in ECEF frame coordinates in [m].
Eigen::Quaterniond	e_Quat_n () const
	Returns the Quaternion from navigation to Earth-fixed frame.
const double &	latitude () const
	Returns the latitude 𝜙 in [rad].
const Eigen::Vector3d &	lla_position () const
	Returns the latitude 𝜙, longitude λ and altitude (height above ground) in [rad, rad, m].
const double &	longitude () const
	Returns the longitude λ in [rad].
std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.
std::optional< Eigen::Vector3d >	n_positionStdev () const
	Returns the standard deviation of the position in local navigation frame coordinates in [m].
Eigen::Quaterniond	n_Quat_e () const
	Returns the Quaternion from Earth-fixed frame to navigation.
template<typename Derived>
void	setPosCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.
template<typename Derived>
void	setPosCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.
template<typename Derived>
void	setPosition_e (const Eigen::MatrixBase< Derived > &e_position)
	Set the Position in coordinates.
template<typename Derived>
void	setPosition_lla (const Eigen::MatrixBase< Derived > &lla_position)
	Set the Position lla object.
template<typename DerivedP, typename Derived>
void	setPositionAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position and the covariance matrix.
template<typename DerivedP, typename Derived>
void	setPositionAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position and the covariance matrix.
Public Member Functions inherited from NAV::NodeData
void	addEvent (const std::string &text)
	Adds the event to the list.
const std::vector< std::string > &	events () const
	Returns a vector of string events associated with this data.
double	getValueAtOrNaN (size_t idx) const
	Get the value at the index or NaN if not in the observation.
	NodeData ()=default
	Default constructor.
	NodeData (const NodeData &)=default
	Copy constructor.
	NodeData (NodeData &&)=default
	Move constructor.
NodeData &	operator= (const NodeData &)=default
	Copy assignment operator.
NodeData &	operator= (NodeData &&)=default
	Move assignment operator.
virtual bool	setDynamicDataAt (const std::string &, double)
	Set the value for the descriptor.
virtual	~NodeData ()=default
	Destructor.

Static Public Member Functions
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::PosVel
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::Pos
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::NodeData
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.

Data Fields
double	ambiguityCriticalValueRatio
	Ambiguity Critical Value µ ∈ (0, 1] (R1/R2 ≤ µ)
std::vector< AmbiguityDD >	ambiguityDD_br
	Double differenced ambiguities.
AmbiguityResolutionFailure	ambiguityResolutionFailure
	Ambiguity resolution failure.
InsTime	baseTime
	Time of the base observation used.
std::unordered_map< std::pair< Code, GnssObs::ObservationType >, PivotChange >	changedPivotSatellites
	List of pivot satellite changes.
std::vector< std::pair< CycleSlipDetector::Result, std::string > >	cycleSlipDetectorResult
	Cycle slip detector results and name of the receiver.
double	distanceBaseRover
	Distance of Rover to base [m].
ObservationFilter::Filtered	filtered
	Signals filtered by the observation filter.
KeyedVectorXd< RTK::Meas::MeasKeyTypes >	measInnovation
	𝐳 Measurement vector
std::optional< size_t >	nAmbiguitiesFixed
	Number of Ambiguities fixed.
std::vector< SatSigId >	newEstimatedAmbiguity
	Newly estimated ambiguities.
size_t	nisRemovedCnt
	Amount of observations removed by NIS.
std::optional< KeyedKalmanFilter< double, RTK::States::StateKeyType, RTK::Meas::MeasKeyTypes >::NISResult >	nisResultFinal
	Normalized Innovation Squared (NIS) test result (last NIS iteration)
std::optional< KeyedKalmanFilter< double, RTK::States::StateKeyType, RTK::Meas::MeasKeyTypes >::NISResult >	nisResultInitial
	Normalized Innovation Squared (NIS) test result (before removing anything)
std::unordered_map< GnssObs::ObservationType, size_t >	nObservations
	Number of utilized observations (including pivot)
std::unordered_map< GnssObs::ObservationType, size_t >	nObservationsUniqueSatellite
	Number of utilized observations (counted once for each satellite)
size_t	nSatellites
	Amount of satellites used.
std::multiset< Observable >	observableFiltered
	Observables available from receivers, but filtered by GUI settings.
std::multiset< Observable >	observableReceived
	Observables available from receivers (only if double diff possible)
std::multiset< Observable >	observableUsed
	Observables used for the final solution.
std::vector< Outlier >	outliers
	List of found outliers.
std::multiset< Observable >	pivots
	List of pivot satellites.
std::vector< std::pair< SatId, SatData > >	satData
	Extended data for each satellite.
SolutionType	solType
	Type of th solution.
Data Fields inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.

Private Member Functions
void	guiTooltipAmbiguities (const char *id) const
	Print a table for the ambiguities.
void	guiTooltipObservationTable (const std::multiset< RtkSolution::Observable > &observables, bool showSatCounts, bool colorPivots, bool colorNotUsed, bool colorCycleSlips, bool colorPivotChanges, const char *id) const
	Print an observation table to the GUI.
void	guiTooltipSatellites (const std::map< SatelliteSystem, std::unordered_set< SatId > > &satsReceived, const char *id) const
	Print a table for the satellites.

Additional Inherited Members
Protected Attributes inherited from NAV::Pos
std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_e_covarianceMatrix
	Covariance matrix in ECEF coordinates.
std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_n_covarianceMatrix
	Covariance matrix in local navigation coordinates.
Protected Attributes inherited from NAV::NodeData
std::vector< std::string >	_events
	List of events.

Detailed Description

SPP Algorithm output.

Definition at line 37 of file RtkSolution.hpp.

Member Enumeration Documentation

◆ SolutionType

enum class NAV::RtkSolution::SolutionType : uint8_t

strong

Possible types of the RTK solution.

Enumerator
None	No solution type specified.
SPP	Solution calculated via SPP algorithm because of missing data for RTK.
Predicted	Only predicted by Kalman Filter.
RTK_Float	RTK solution with floating point ambiguities.
RTK_Fixed	RTK solution with fixed ambiguities to integers.

Definition at line 250 of file RtkSolution.hpp.

Member Function Documentation

◆ dynamicDataDescriptors()

std::vector< std::string > NAV::RtkSolution::dynamicDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors for the dynamic data.

Reimplemented from NAV::NodeData.

Definition at line 163 of file RtkSolution.hpp.

◆ getDynamicData()

std::vector< std::pair< std::string, double > > NAV::RtkSolution::getDynamicData ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors and values for the dynamic data.

Reimplemented from NAV::NodeData.

Definition at line 212 of file RtkSolution.hpp.

◆ getDynamicDataAt()

std::optional< double > NAV::RtkSolution::getDynamicDataAt ( const std::string & descriptor ) const

inlinenodiscardoverridevirtual

Get the value for the descriptor.

Returns: Value if in the observation

Reimplemented from NAV::NodeData.

Definition at line 192 of file RtkSolution.hpp.

◆ GetStaticDataDescriptors()

std::vector< std::string > NAV::RtkSolution::GetStaticDataDescriptors ( )

inlinestaticnodiscard

Returns a vector of data descriptors.

Definition at line 61 of file RtkSolution.hpp.

◆ GetStaticDescriptorCount()

constexpr size_t NAV::RtkSolution::GetStaticDescriptorCount ( )

inlinestaticnodiscardconstexpr

Get the amount of descriptors.

Definition at line 88 of file RtkSolution.hpp.

◆ getType()

std::string NAV::RtkSolution::getType ( ) const

inlinenodiscardoverridevirtual

Returns the type of the data class.

Returns: The data type

Reimplemented from NAV::PosVel.

Definition at line 49 of file RtkSolution.hpp.

◆ getValueAt()

std::optional< double > NAV::RtkSolution::getValueAt ( size_t idx ) const

inlinenodiscardoverridevirtual

Get the value at the index.

Parameters

idx	Index corresponding to data descriptor order

Returns: Value if in the observation

Reimplemented from NAV::PosVel.

Definition at line 99 of file RtkSolution.hpp.

◆ guiTooltip()

void NAV::RtkSolution::guiTooltip	(	bool	detailView,
		bool	firstOpen,
		const char *	displayName,
		const char *	id,
		int *	rootWindow ) const

overridevirtual

Shows a GUI tooltip to look into details of the observation.

Parameters

[in]	detailView	Flag to show the detailed view
[in]	firstOpen	Flag whether the tooltip is opened once
[in]	displayName	Data identifier, can be used in dynamic data to identify the correct data
[in]	id	Unique identifier
[in]	rootWindow	Pointer to the root window opening the tooltip

Reimplemented from NAV::NodeData.

Definition at line 460 of file RtkSolution.cpp.

◆ guiTooltipAmbiguities()

void NAV::RtkSolution::guiTooltipAmbiguities ( const char * id ) const

private

Print a table for the ambiguities.

Parameters

[in] id Unique identifier

Definition at line 409 of file RtkSolution.cpp.

◆ guiTooltipObservationTable()

void NAV::RtkSolution::guiTooltipObservationTable	(	const std::multiset< RtkSolution::Observable > &	observables,
		bool	showSatCounts,
		bool	colorPivots,
		bool	colorNotUsed,
		bool	colorCycleSlips,
		bool	colorPivotChanges,
		const char *	id ) const

private

Print an observation table to the GUI.

Parameters

[in]	observables	Observables
[in]	showSatCounts	Whether to show the observable count in the table header
[in]	colorPivots	Whether to color the pivot satellite
[in]	colorNotUsed	Whether to color observations not used
[in]	colorCycleSlips	Whether to color cycle-slips
[in]	colorPivotChanges	Whether to color pivot changes
[in]	id	Unique identifier

Definition at line 139 of file RtkSolution.cpp.

◆ guiTooltipSatellites()

void NAV::RtkSolution::guiTooltipSatellites	(	const std::map< SatelliteSystem, std::unordered_set< SatId > > &	satsReceived,
		const char *	id ) const

private

Print a table for the satellites.

Parameters

[in]	satsReceived	List of received satellites
[in]	id	Unique identifier

Definition at line 34 of file RtkSolution.cpp.

◆ hasTooltip()

bool NAV::RtkSolution::hasTooltip ( ) const

inlinenodiscardoverridevirtual

Return whether this data has a tooltip.

Reimplemented from NAV::NodeData.

Definition at line 245 of file RtkSolution.hpp.

◆ parentTypes()

std::vector< std::string > NAV::RtkSolution::parentTypes ( )

inlinestaticnodiscard

Returns the parent types of the data class.

Returns: The parent data types

Definition at line 53 of file RtkSolution.hpp.

◆ staticDataDescriptors()

std::vector< std::string > NAV::RtkSolution::staticDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors.

Reimplemented from NAV::PosVel.

Definition at line 91 of file RtkSolution.hpp.

◆ staticDescriptorCount()

size_t NAV::RtkSolution::staticDescriptorCount ( ) const

inlinenodiscardoverridevirtual

Get the amount of descriptors.

Reimplemented from NAV::PosVel.

Definition at line 94 of file RtkSolution.hpp.

◆ type()

std::string NAV::RtkSolution::type ( )

inlinestaticnodiscard

Returns the type of the data class.

Returns: The data type

Definition at line 42 of file RtkSolution.hpp.

Field Documentation

◆ ambiguityCriticalValueRatio

double NAV::RtkSolution::ambiguityCriticalValueRatio

Ambiguity Critical Value µ ∈ (0, 1] (R1/R2 ≤ µ)

Definition at line 275 of file RtkSolution.hpp.

◆ ambiguityDD_br

std::vector<AmbiguityDD> NAV::RtkSolution::ambiguityDD_br

Double differenced ambiguities.

Definition at line 384 of file RtkSolution.hpp.

◆ ambiguityResolutionFailure

AmbiguityResolutionFailure NAV::RtkSolution::ambiguityResolutionFailure

Ambiguity resolution failure.

Definition at line 274 of file RtkSolution.hpp.

◆ baseTime

InsTime NAV::RtkSolution::baseTime

Time of the base observation used.

Definition at line 269 of file RtkSolution.hpp.

◆ changedPivotSatellites

std::unordered_map<std::pair<Code, GnssObs::ObservationType>, PivotChange> NAV::RtkSolution::changedPivotSatellites

List of pivot satellite changes.

Definition at line 306 of file RtkSolution.hpp.

◆ cycleSlipDetectorResult

std::vector<std::pair<CycleSlipDetector::Result, std::string> > NAV::RtkSolution::cycleSlipDetectorResult

Cycle slip detector results and name of the receiver.

Definition at line 279 of file RtkSolution.hpp.

◆ distanceBaseRover

double NAV::RtkSolution::distanceBaseRover

Distance of Rover to base [m].

Definition at line 266 of file RtkSolution.hpp.

◆ filtered

ObservationFilter::Filtered NAV::RtkSolution::filtered

Signals filtered by the observation filter.

Definition at line 340 of file RtkSolution.hpp.

◆ measInnovation

KeyedVectorXd<RTK::Meas::MeasKeyTypes> NAV::RtkSolution::measInnovation

𝐳 Measurement vector

Definition at line 387 of file RtkSolution.hpp.

◆ nAmbiguitiesFixed

std::optional<size_t> NAV::RtkSolution::nAmbiguitiesFixed

Number of Ambiguities fixed.

Definition at line 276 of file RtkSolution.hpp.

◆ newEstimatedAmbiguity

std::vector<SatSigId> NAV::RtkSolution::newEstimatedAmbiguity

Newly estimated ambiguities.

Definition at line 382 of file RtkSolution.hpp.

◆ nisRemovedCnt

size_t NAV::RtkSolution::nisRemovedCnt

Amount of observations removed by NIS.

Definition at line 371 of file RtkSolution.hpp.

◆ nisResultFinal

std::optional<KeyedKalmanFilter<double, RTK::States::StateKeyType, RTK::Meas::MeasKeyTypes>::NISResult> NAV::RtkSolution::nisResultFinal

Normalized Innovation Squared (NIS) test result (last NIS iteration)

Definition at line 369 of file RtkSolution.hpp.

◆ nisResultInitial

std::optional<KeyedKalmanFilter<double, RTK::States::StateKeyType, RTK::Meas::MeasKeyTypes>::NISResult> NAV::RtkSolution::nisResultInitial

Normalized Innovation Squared (NIS) test result (before removing anything)

Definition at line 367 of file RtkSolution.hpp.

◆ nObservations

std::unordered_map<GnssObs::ObservationType, size_t> NAV::RtkSolution::nObservations

Number of utilized observations (including pivot)

Definition at line 271 of file RtkSolution.hpp.

◆ nObservationsUniqueSatellite

std::unordered_map<GnssObs::ObservationType, size_t> NAV::RtkSolution::nObservationsUniqueSatellite

Number of utilized observations (counted once for each satellite)

Definition at line 272 of file RtkSolution.hpp.

◆ nSatellites

size_t NAV::RtkSolution::nSatellites

Amount of satellites used.

Definition at line 263 of file RtkSolution.hpp.

◆ observableFiltered

std::multiset<Observable> NAV::RtkSolution::observableFiltered

Observables available from receivers, but filtered by GUI settings.

Definition at line 335 of file RtkSolution.hpp.

◆ observableReceived

std::multiset<Observable> NAV::RtkSolution::observableReceived

Observables available from receivers (only if double diff possible)

Definition at line 333 of file RtkSolution.hpp.

◆ observableUsed

std::multiset<Observable> NAV::RtkSolution::observableUsed

Observables used for the final solution.

Definition at line 337 of file RtkSolution.hpp.

◆ outliers

std::vector<Outlier> NAV::RtkSolution::outliers

List of found outliers.

Definition at line 365 of file RtkSolution.hpp.

◆ pivots

std::multiset<Observable> NAV::RtkSolution::pivots

List of pivot satellites.

Definition at line 331 of file RtkSolution.hpp.

◆ satData

std::vector<std::pair<SatId, SatData> > NAV::RtkSolution::satData

Extended data for each satellite.

Definition at line 397 of file RtkSolution.hpp.

◆ solType

SolutionType NAV::RtkSolution::solType

Type of th solution.

Definition at line 260 of file RtkSolution.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/NodeData/GNSS/RtkSolution.hpp
/home/runner/work/INSTINCT/INSTINCT/src/NodeData/GNSS/RtkSolution.cpp

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Data Fields

Private Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ SolutionType

Member Function Documentation

◆ dynamicDataDescriptors()

◆ getDynamicData()

◆ getDynamicDataAt()

◆ GetStaticDataDescriptors()

◆ GetStaticDescriptorCount()

◆ getType()

◆ getValueAt()

◆ guiTooltip()

◆ guiTooltipAmbiguities()

◆ guiTooltipObservationTable()

◆ guiTooltipSatellites()

◆ hasTooltip()

◆ parentTypes()

◆ staticDataDescriptors()

◆ staticDescriptorCount()

◆ type()

Field Documentation

◆ ambiguityCriticalValueRatio

◆ ambiguityDD_br

◆ ambiguityResolutionFailure

◆ baseTime

◆ changedPivotSatellites

◆ cycleSlipDetectorResult

◆ distanceBaseRover

◆ filtered

◆ measInnovation

◆ nAmbiguitiesFixed

◆ newEstimatedAmbiguity

◆ nisRemovedCnt

◆ nisResultFinal

◆ nisResultInitial

◆ nObservations

◆ nObservationsUniqueSatellite

◆ nSatellites

◆ observableFiltered

◆ observableReceived

◆ observableUsed

◆ outliers

◆ pivots

◆ satData

◆ solType