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|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file InsGnssTCKFSolution.hpp | ||
| 10 | /// @brief Tightly-coupled Kalman Filter INS/GNSS errors | ||
| 11 | /// @author M. Maier (marcel.maier@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2023-02-24 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "InsGnssLCKFSolution.hpp" | ||
| 17 | |||
| 18 | namespace NAV | ||
| 19 | { | ||
| 20 | /// Tightly-coupled Kalman Filter INS/GNSS errors | ||
| 21 | class InsGnssTCKFSolution : public InsGnssLCKFSolution | ||
| 22 | { | ||
| 23 | public: | ||
| 24 | /// @brief Returns the type of the data class | ||
| 25 | /// @return The data type | ||
| 26 | 581808 | [[nodiscard]] static std::string type() | |
| 27 | { | ||
| 28 |
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1163616 | return "InsGnssTCKFSolution"; |
| 29 | } | ||
| 30 | |||
| 31 | /// @brief Returns the type of the data class | ||
| 32 | /// @return The data type | ||
| 33 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 34 | |||
| 35 | /// @brief Returns the parent types of the data class | ||
| 36 | /// @return The parent data types | ||
| 37 | [[nodiscard]] static std::vector<std::string> parentTypes() | ||
| 38 | { | ||
| 39 | auto parent = InsGnssLCKFSolution::parentTypes(); | ||
| 40 | parent.push_back(InsGnssLCKFSolution::type()); | ||
| 41 | return parent; | ||
| 42 | } | ||
| 43 | |||
| 44 | /// @brief Returns a vector of data descriptors | ||
| 45 | ✗ | [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors() | |
| 46 | { | ||
| 47 | ✗ | auto desc = InsGnssLCKFSolution::GetStaticDataDescriptors(); | |
| 48 | ✗ | desc.reserve(GetStaticDescriptorCount()); | |
| 49 | ✗ | desc.emplace_back("Receiver clock offset [m]"); | |
| 50 | ✗ | desc.emplace_back("Receiver clock drift [m/s]"); | |
| 51 | ✗ | desc.emplace_back("Receiver clock offset [s]"); | |
| 52 | ✗ | desc.emplace_back("Receiver clock drift [s/s]"); | |
| 53 | ✗ | return desc; | |
| 54 | ✗ | } | |
| 55 | |||
| 56 | /// @brief Get the amount of descriptors | ||
| 57 | ✗ | [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return InsGnssLCKFSolution::GetStaticDescriptorCount() + 4; } | |
| 58 | |||
| 59 | /// @brief Returns a vector of data descriptors | ||
| 60 | ✗ | [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); } | |
| 61 | |||
| 62 | /// @brief Get the amount of descriptors | ||
| 63 | ✗ | [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); } | |
| 64 | |||
| 65 | /// @brief Get the value at the index | ||
| 66 | /// @param idx Index corresponding to data descriptor order | ||
| 67 | /// @return Value if in the observation | ||
| 68 | ✗ | [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override | |
| 69 | { | ||
| 70 | ✗ | INS_ASSERT(idx < GetStaticDescriptorCount()); | |
| 71 | ✗ | if (idx < InsGnssLCKFSolution::GetStaticDescriptorCount()) { return InsGnssLCKFSolution::getValueAt(idx); } | |
| 72 | ✗ | switch (idx) | |
| 73 | { | ||
| 74 | ✗ | case InsGnssLCKFSolution::GetStaticDescriptorCount() + 0: // Receiver clock offset [m] | |
| 75 | ✗ | return recvClkOffset; | |
| 76 | ✗ | case InsGnssLCKFSolution::GetStaticDescriptorCount() + 1: // Receiver clock drift [m/s] | |
| 77 | ✗ | return recvClkDrift; | |
| 78 | ✗ | case InsGnssLCKFSolution::GetStaticDescriptorCount() + 2: // Receiver clock offset [s] | |
| 79 | ✗ | return recvClkOffset / InsConst::C; | |
| 80 | ✗ | case InsGnssLCKFSolution::GetStaticDescriptorCount() + 3: // Receiver clock drift [s/s] | |
| 81 | ✗ | return recvClkDrift / InsConst::C; | |
| 82 | ✗ | default: | |
| 83 | ✗ | return std::nullopt; | |
| 84 | } | ||
| 85 | } | ||
| 86 | |||
| 87 | /// δϱ The receiver clock offset in [m] | ||
| 88 | double recvClkOffset{}; | ||
| 89 | |||
| 90 | /// δϱ_dot The receiver clock drift in [m/s] | ||
| 91 | double recvClkDrift{}; | ||
| 92 | }; | ||
| 93 | |||
| 94 | } // namespace NAV | ||
| 95 |