The Spp Kalman Filter related options. More...

Public Member Functions
void	addInterFrequencyBias (const Frequency &freq)
	Adds the frequency as inter-frequency bias state.

void	deinitialize ()
	Deinitialize the KF (can be used to reinitialize the Filter when results seem strange)

const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > &	getErrorCovarianceMatrix () const
	Returns the Error covariance matrix 𝐏

const KeyedVectorXd< States::StateKeyType > &	getState () const
	Returns the State vector x̂

const std::vector< SPP::States::StateKeyType > &	getStateKeys () const
	Get the States in the Kalman Filter.

void	initialize (const KeyedVectorXd< States::StateKeyType > &states, const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > &variance)
	Initialize the filter.

bool	isInitialized () const
	Checks wether the Kalman filter is initialized.

void	predict (const double &dt, const Eigen::Vector3d &lla_pos, const std::string &nameId)
	Does the Kalman Filter prediction.

void	reset (const std::vector< SatelliteSystem > &satelliteSystems)
	Resets the filter.

void	setClockBiasErrorCovariance (double clkPhaseDrift)
	Set the P matrix entry for the covariance of the clock phase drift.

bool	ShowGuiWidgets (const char *id, bool useDoppler, bool multiConstellation, bool estimateInterFrequencyBiases, float itemWidth, float unitWidth)
	Shows the GUI input to select the options.

void	update (const std::vector< Meas::MeasKeyTypes > &measKeys, const KeyedMatrixXd< Meas::MeasKeyTypes, States::StateKeyType > &H, const KeyedMatrixXd< Meas::MeasKeyTypes, Meas::MeasKeyTypes > &R, const KeyedVectorXd< Meas::MeasKeyTypes > &dz, const std::string &nameId)
	Does the Kalman Filter update.

Private Types
enum class	InitCovarianceClockDriftUnits : uint8_t { m_s , s_s , m2_s2 , s2_s2 }
	Possible Units for the P matrix initialization clock drift uncertainty. More...

enum class	InitCovarianceVelocityUnits : uint8_t { m_s , m2_s2 }
	Possible Units for the P matrix initialization velocity uncertainty. More...

Private Attributes
double	_gui_initCovarianceClockDrift
	GUI selection for the P matrix initialization clock drift uncertainty.

InitCovarianceClockDriftUnits	_gui_initCovarianceClockDriftUnit
	Gui selection for the Unit of the P matrix initialization clock drift uncertainty.

double	_gui_initCovarianceInterSysClockDrift
	GUI selection for the P matrix initialization inter system clock drift uncertainty.

InitCovarianceClockDriftUnits	_gui_initCovarianceInterSysClockDriftUnit
	Gui selection for the Unit of the P matrix initialization inter system clock drift uncertainty.

double	_gui_initCovarianceVelocity
	GUI selection for the P matrix initialization velocity uncertainty.

InitCovarianceVelocityUnits	_gui_initCovarianceVelocityUnit
	Gui selection for the Unit of the P matrix initialization velocity uncertainty.

double	_initCovarianceClockDrift
	Covariance of the P matrix initialization clock drift uncertainty [m²/s²].

double	_initCovarianceInterSysClockDrift
	Covariance of the P matrix initialization inter system clock drift uncertainty [m²/s²].

double	_initCovarianceVelocity
	Covariance of the P matrix initialization velocity uncertainty [m²/s²].

bool	_initialized
	Boolean that determines, if Kalman Filter is initialized (from weighted LSE solution)

InterFrequencyBiasModel< SPP::States::StateKeyType >	_interFrequencyBiasModel
	Inter-frequency bias Model.

KeyedKalmanFilterD< SPP::States::StateKeyType, SPP::Meas::MeasKeyTypes >	_kalmanFilter
	Kalman Filter representation.

MotionModel< SPP::States::StateKeyType >	_motionModel
	Motion Model.

ReceiverClockModel< SPP::States::StateKeyType >	_receiverClockModel
	Receiver clock Model.

SystemModelCalcAlgorithm	_systemModelCalcAlgorithm
	Algorithm to calculate the system models with.

const std::array< SPP::States::StateKeyType, 6 > &	PosVelKey
	All position and velocity keys.

const std::array< SPP::States::StateKeyType, 3 > &	VelKey
	All velocity keys.

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

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

Detailed Description

The Spp Kalman Filter related options.

Definition at line 37 of file KalmanFilter.hpp.

Member Enumeration Documentation

◆ InitCovarianceClockDriftUnits

enum class NAV::SPP::KalmanFilter::InitCovarianceClockDriftUnits : uint8_t

strongprivate

Possible Units for the P matrix initialization clock drift uncertainty.

Enumerator
m_s	[ m / s ]
s_s	[ s / s ]
m2_s2	[ m^2 / s^2 ]
s2_s2	[ s^2 / s^2 ]

Definition at line 139 of file KalmanFilter.hpp.

◆ InitCovarianceVelocityUnits

enum class NAV::SPP::KalmanFilter::InitCovarianceVelocityUnits : uint8_t

strongprivate

Possible Units for the P matrix initialization velocity uncertainty.

Enumerator
m_s	[ m / s ]
m2_s2	[ m^2 / s^2 ]

Definition at line 123 of file KalmanFilter.hpp.

Member Function Documentation

◆ addInterFrequencyBias()

void NAV::SPP::KalmanFilter::addInterFrequencyBias ( const Frequency & freq )

Adds the frequency as inter-frequency bias state.

Parameters

[in] freq Frequency to estimate the inter-frequency bias for

Definition at line 185 of file KalmanFilter.cpp.

◆ deinitialize()

void NAV::SPP::KalmanFilter::deinitialize ( )

Deinitialize the KF (can be used to reinitialize the Filter when results seem strange)

Definition at line 123 of file KalmanFilter.cpp.

◆ getErrorCovarianceMatrix()

const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > & NAV::SPP::KalmanFilter::getErrorCovarianceMatrix ( ) const

nodiscard

Returns the Error covariance matrix 𝐏

Definition at line 299 of file KalmanFilter.cpp.

◆ getState()

const KeyedVectorX< double, States::StateKeyType > & NAV::SPP::KalmanFilter::getState ( ) const

nodiscard

Returns the State vector x̂

Definition at line 294 of file KalmanFilter.cpp.

◆ getStateKeys()

const std::vector< SPP::States::StateKeyType > & NAV::SPP::KalmanFilter::getStateKeys ( ) const

nodiscard

Get the States in the Kalman Filter.

Definition at line 289 of file KalmanFilter.cpp.

◆ initialize()

void NAV::SPP::KalmanFilter::initialize	(	const KeyedVectorXd< States::StateKeyType > &	states,
		const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > &	variance )

Initialize the filter.

Parameters

states	States to initialize with
variance	Variance of the state

Definition at line 101 of file KalmanFilter.cpp.

◆ isInitialized()

bool NAV::SPP::KalmanFilter::isInitialized ( ) const

inlinenodiscard

Checks wether the Kalman filter is initialized.

Definition at line 53 of file KalmanFilter.hpp.

◆ predict()

void NAV::SPP::KalmanFilter::predict	(	const double &	dt,
		const Eigen::Vector3d &	lla_pos,
		const std::string &	nameId )

Does the Kalman Filter prediction.

Parameters

[in]	dt	Time step [s]
[in]	lla_pos	Position in Latitude, Longitude, Altitude [rad, rad, m]
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Definition at line 128 of file KalmanFilter.cpp.

◆ reset()

void NAV::SPP::KalmanFilter::reset ( const std::vector< SatelliteSystem > & satelliteSystems )

Resets the filter.

Parameters

satelliteSystems Satellite systems to consider

Definition at line 33 of file KalmanFilter.cpp.

◆ setClockBiasErrorCovariance()

void NAV::SPP::KalmanFilter::setClockBiasErrorCovariance ( double clkPhaseDrift )

Set the P matrix entry for the covariance of the clock phase drift.

Parameters

clkPhaseDrift Clock phase drift variance in [m^2 / s]

Definition at line 278 of file KalmanFilter.cpp.

◆ ShowGuiWidgets()

bool NAV::SPP::KalmanFilter::ShowGuiWidgets	(	const char *	id,
		bool	useDoppler,
		bool	multiConstellation,
		bool	estimateInterFrequencyBiases,
		float	itemWidth,
		float	unitWidth )

Shows the GUI input to select the options.

Parameters

[in]	id	Unique id for ImGui.
[in]	useDoppler	Whether to use doppler measurements
[in]	multiConstellation	Whether to use multiple constellations
[in]	estimateInterFrequencyBiases	Whether to use estimate inter frequency biases
[in]	itemWidth	Width of the widgets
[in]	unitWidth	Width on unit inputs

Returns: True when something was changed

Definition at line 197 of file KalmanFilter.cpp.

◆ update()

void NAV::SPP::KalmanFilter::update	(	const std::vector< Meas::MeasKeyTypes > &	measKeys,
		const KeyedMatrixXd< Meas::MeasKeyTypes, States::StateKeyType > &	H,
		const KeyedMatrixXd< Meas::MeasKeyTypes, Meas::MeasKeyTypes > &	R,
		const KeyedVectorXd< Meas::MeasKeyTypes > &	dz,
		const std::string &	nameId )

Does the Kalman Filter update.

Parameters

[in]	measKeys	Measurement keys
[in]	H	Measurement sensitivity matrix 𝐇
[in]	R	Measurement noise covariance matrix 𝐑
[in]	dz	Measurement innovation 𝜹𝐳
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Definition at line 168 of file KalmanFilter.cpp.

Friends And Related Symbol Documentation

◆ from_json

void from_json	(	const json &	j,
		KalmanFilter &	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 314 of file KalmanFilter.cpp.

◆ to_json

void to_json	(	json &	j,
		const KalmanFilter &	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 304 of file KalmanFilter.cpp.

Field Documentation

◆ _gui_initCovarianceClockDrift

double NAV::SPP::KalmanFilter::_gui_initCovarianceClockDrift

private

GUI selection for the P matrix initialization clock drift uncertainty.

Definition at line 150 of file KalmanFilter.hpp.

◆ _gui_initCovarianceClockDriftUnit

InitCovarianceClockDriftUnits NAV::SPP::KalmanFilter::_gui_initCovarianceClockDriftUnit

private

Gui selection for the Unit of the P matrix initialization clock drift uncertainty.

Definition at line 147 of file KalmanFilter.hpp.

◆ _gui_initCovarianceInterSysClockDrift

double NAV::SPP::KalmanFilter::_gui_initCovarianceInterSysClockDrift

private

GUI selection for the P matrix initialization inter system clock drift uncertainty.

Definition at line 160 of file KalmanFilter.hpp.

◆ _gui_initCovarianceInterSysClockDriftUnit

InitCovarianceClockDriftUnits NAV::SPP::KalmanFilter::_gui_initCovarianceInterSysClockDriftUnit

private

Gui selection for the Unit of the P matrix initialization inter system clock drift uncertainty.

Definition at line 157 of file KalmanFilter.hpp.

◆ _gui_initCovarianceVelocity

double NAV::SPP::KalmanFilter::_gui_initCovarianceVelocity

private

GUI selection for the P matrix initialization velocity uncertainty.

Definition at line 132 of file KalmanFilter.hpp.

◆ _gui_initCovarianceVelocityUnit

InitCovarianceVelocityUnits NAV::SPP::KalmanFilter::_gui_initCovarianceVelocityUnit

private

Gui selection for the Unit of the P matrix initialization velocity uncertainty.

Definition at line 129 of file KalmanFilter.hpp.

◆ _initCovarianceClockDrift

double NAV::SPP::KalmanFilter::_initCovarianceClockDrift

private

Covariance of the P matrix initialization clock drift uncertainty [m²/s²].

Definition at line 152 of file KalmanFilter.hpp.

◆ _initCovarianceInterSysClockDrift

double NAV::SPP::KalmanFilter::_initCovarianceInterSysClockDrift

private

Covariance of the P matrix initialization inter system clock drift uncertainty [m²/s²].

Definition at line 162 of file KalmanFilter.hpp.

◆ _initCovarianceVelocity

double NAV::SPP::KalmanFilter::_initCovarianceVelocity

private

Covariance of the P matrix initialization velocity uncertainty [m²/s²].

Definition at line 134 of file KalmanFilter.hpp.

◆ _initialized

bool NAV::SPP::KalmanFilter::_initialized

private

Boolean that determines, if Kalman Filter is initialized (from weighted LSE solution)

Definition at line 113 of file KalmanFilter.hpp.

◆ _interFrequencyBiasModel

InterFrequencyBiasModel<SPP::States::StateKeyType> NAV::SPP::KalmanFilter::_interFrequencyBiasModel

private

Inter-frequency bias Model.

Definition at line 118 of file KalmanFilter.hpp.

◆ _kalmanFilter

KeyedKalmanFilterD<SPP::States::StateKeyType, SPP::Meas::MeasKeyTypes> NAV::SPP::KalmanFilter::_kalmanFilter

private

Kalman Filter representation.

Definition at line 110 of file KalmanFilter.hpp.

◆ _motionModel

MotionModel<SPP::States::StateKeyType> NAV::SPP::KalmanFilter::_motionModel

private

Motion Model.

Definition at line 116 of file KalmanFilter.hpp.

◆ _receiverClockModel

ReceiverClockModel<SPP::States::StateKeyType> NAV::SPP::KalmanFilter::_receiverClockModel

private

Receiver clock Model.

Definition at line 117 of file KalmanFilter.hpp.

◆ _systemModelCalcAlgorithm

SystemModelCalcAlgorithm NAV::SPP::KalmanFilter::_systemModelCalcAlgorithm

private

Algorithm to calculate the system models with.

Definition at line 115 of file KalmanFilter.hpp.

◆ PosVelKey

const std::array<SPP::States::StateKeyType, 6>& NAV::SPP::KalmanFilter::PosVelKey

private

All position and velocity keys.

Definition at line 107 of file KalmanFilter.hpp.

◆ VelKey

const std::array<SPP::States::StateKeyType, 3>& NAV::SPP::KalmanFilter::VelKey

private

All velocity keys.

Definition at line 105 of file KalmanFilter.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/SPP/KalmanFilter.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/SPP/KalmanFilter.cpp

Public Member Functions

Private Types

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ InitCovarianceClockDriftUnits

◆ InitCovarianceVelocityUnits

Member Function Documentation

◆ addInterFrequencyBias()

◆ deinitialize()

◆ getErrorCovarianceMatrix()

◆ getState()

◆ getStateKeys()

◆ initialize()

◆ isInitialized()

◆ predict()

◆ reset()

◆ setClockBiasErrorCovariance()

◆ ShowGuiWidgets()

◆ update()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json

Field Documentation

◆ _gui_initCovarianceClockDrift

◆ _gui_initCovarianceClockDriftUnit

◆ _gui_initCovarianceInterSysClockDrift

◆ _gui_initCovarianceInterSysClockDriftUnit

◆ _gui_initCovarianceVelocity

◆ _gui_initCovarianceVelocityUnit

◆ _initCovarianceClockDrift

◆ _initCovarianceInterSysClockDrift

◆ _initCovarianceVelocity

◆ _initialized

◆ _interFrequencyBiasModel

◆ _kalmanFilter

◆ _motionModel

◆ _receiverClockModel

◆ _systemModelCalcAlgorithm

◆ PosVelKey

◆ VelKey