NAV::SPP::KalmanFilter Class Reference

The Spp Kalman Filter related options. More...

Public Member Functions
void	addInterFrequencyBias (const Frequency &freq)
	Adds the frequency as inter-frequency bias state.
KeyedMatrixXd< States::StateKeyTypes, States::StateKeyTypes >	calcProcessNoiseMatrixGroves (double dt, const Eigen::Vector3d &lla_pos, const std::string &nameId) const
	Calculates the process noise matrix Q.
void	deinitialize ()
	Deinitialize the KF (can be used to reinitialize the Filter when results seem strange)
const KeyedMatrixXd< States::StateKeyTypes, States::StateKeyTypes > &	getErrorCovarianceMatrix () const
	Returns the Error covariance matrix 𝐏
const KeyedVectorXd< States::StateKeyTypes > &	getState () const
	Returns the State vector x̂
const std::vector< SPP::States::StateKeyTypes > &	getStateKeys () const
	Get the States in the Kalman Filter.
void	initialize (const KeyedVectorXd< States::StateKeyTypes > &states, const KeyedMatrixXd< States::StateKeyTypes, States::StateKeyTypes > &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 ()
	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::StateKeyTypes > &H, const KeyedMatrixXd< Meas::MeasKeyTypes, Meas::MeasKeyTypes > &R, const KeyedVectorXd< Meas::MeasKeyTypes > &dz, const std::string &nameId)
	Does the Kalman Filter update.
SatelliteSystem	updateInterSystemTimeDifferences (const std::set< SatelliteSystem > &usedSatSystems, SatelliteSystem oldRefSys, SatelliteSystem newRefSys, const std::string &nameId)
	Adds the inter system time difference bias and drift.

Detailed Description

The Spp Kalman Filter related options.

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

calcProcessNoiseMatrixGroves()

KeyedMatrixXd< States::StateKeyTypes, States::StateKeyTypes > NAV::SPP::KalmanFilter::calcProcessNoiseMatrixGroves	(	double	dt,
		const Eigen::Vector3d &	lla_pos,
		const std::string &	nameId ) const

Calculates the process noise matrix Q.

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)

Note

See [17] Groves, ch. 9.4.2.2, eq. 9.152, p. 417

initialize()

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

Initialize the filter.

Parameters

states	States to initialize with
variance	Variance of the state

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)

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]

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

update()

void NAV::SPP::KalmanFilter::update	(	const std::vector< Meas::MeasKeyTypes > &	measKeys,
		const KeyedMatrixXd< Meas::MeasKeyTypes, States::StateKeyTypes > &	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)

updateInterSystemTimeDifferences()

SatelliteSystem NAV::SPP::KalmanFilter::updateInterSystemTimeDifferences	(	const std::set< SatelliteSystem > &	usedSatSystems,
		SatelliteSystem	oldRefSys,
		SatelliteSystem	newRefSys,
		const std::string &	nameId )

Adds the inter system time difference bias and drift.

Parameters

[in]	usedSatSystems	Used Satellite systems this epoch
[in]	oldRefSys	Old Satellite time reference system
[in]	newRefSys	New Satellite time reference system
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Returns

The reference system which was selected

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

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