INSTINCT Code Coverage Report

Directory:	src/
File:	Navigation/INS/ProcessNoise.cpp
Date:	2025-11-25 23:34:18

	Exec	Total	Coverage
Lines:	43	54	79.6%
Functions:	19	22	86.4%
Branches:	198	416	47.6%

  
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      // This file is part of INSTINCT, the INS Toolkit for Integrated
    
      // Navigation Concepts and Training by the Institute of Navigation of
    
      // the University of Stuttgart, Germany.
    
      //
    
      // This Source Code Form is subject to the terms of the Mozilla Public
    
      // License, v. 2.0. If a copy of the MPL was not distributed with this
    
      // file, You can obtain one at https://mozilla.org/MPL/2.0/.
    
      #include "ProcessNoise.hpp"
    
      #include <Eigen/Dense>
    
      namespace NAV
    
      {
    
      ✗
      Eigen::Matrix3d G_RandomWalk(const Eigen::Vector3d& sigma2)
    
      {
    
          // Math: \mathbf{G} = \begin{bmatrix} \sqrt{\sigma_{1}^2} & 0 & 0 \\ 0 & \sqrt{\sigma_{2}^2} & 0 \\ 0 & 0 & \sqrt{\sigma_{3}^2} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
    
      ✗
          return Eigen::DiagonalMatrix<double, 3>{ sigma2.cwiseSqrt() };
    
      }
    
      ✗
      Eigen::Matrix3d G_GaussMarkov1(const Eigen::Vector3d& sigma2, const Eigen::Vector3d& beta)
    
      {
    
          // Math: \mathbf{G} = \begin{bmatrix} \sqrt{2 \sigma_{1}^2 \beta_{1}} & 0 & 0 \\ 0 & \sqrt{2 \sigma_{2}^2 \beta_{2}} & 0 \\ 0 & 0 & \sqrt{2 \sigma_{3}^2 \beta_{3}} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
    
      ✗
          return Eigen::DiagonalMatrix<double, 3>{ (2.0 * beta.cwiseProduct(sigma2)).cwiseSqrt() };
    
      }
    
      25776
      Eigen::Vector3d psd2BiasGaussMarkov(const Eigen::Vector3d& sigma2_bd, const Eigen::Vector3d& tau_bd)
    
      {
    
          // Math: u_{bias}^2 = \frac{2\sigma_{bd}^2}{\tau_{bd}} \qquad \text{Brown & Hwang, example 9.6}
    
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      25776
          return 2 * sigma2_bd.array() / tau_bd.array();
    
      }
    
      12888
      Eigen::Matrix3d Q_psi_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const double& tau_s)
    
      {
    
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      12888
          return (S_rg.asDiagonal() * tau_s + 1.0 / 3.0 * S_bgd.asDiagonal() * std::pow(tau_s, 3)) * Eigen::Matrix3d::Identity();
    
      }
    
      12888
      Eigen::Matrix3d ien_Q_dv_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ien_F_21, const double& tau_s)
    
      {
    
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      12888
          return (0.5 * S_rg.asDiagonal() * std::pow(tau_s, 2) + 0.25 * S_bgd.asDiagonal() * std::pow(tau_s, 4)) * ien_F_21;
    
      }
    
      12888
      Eigen::Matrix3d ien_Q_dv_dv(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ien_F_21, const double& tau_s)
    
      {
    
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      12888
          return (S_ra.asDiagonal() * tau_s + 1.0 / 3.0 * S_bad.asDiagonal() * std::pow(tau_s, 3)) * Eigen::Matrix3d::Identity()
    
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      25776
                 + (1.0 / 3.0 * S_rg.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bgd.asDiagonal() * std::pow(tau_s, 5)) * ien_F_21 * ien_F_21.transpose();
    
      }
    
      12888
      Eigen::Matrix3d ien_Q_dv_domega(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ien_F_21, const Eigen::Matrix3d& ien_Dcm_b, const double& tau_s)
    
      {
    
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      12888
          return 1.0 / 3.0 * S_bgd.asDiagonal() * std::pow(tau_s, 3) * ien_F_21 * ien_Dcm_b;
    
      }
    
      6444
      Eigen::Matrix3d n_Q_dr_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const double& tau_s)
    
      {
    
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      6444
          return (1.0 / 3.0 * S_rg.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bgd.asDiagonal() * std::pow(tau_s, 5)) * T_rn_p * n_F_21;
    
      }
    
      6444
      Eigen::Matrix3d ie_Q_dr_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const double& tau_s)
    
      {
    
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      6444
          return (1.0 / 3.0 * S_rg.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bgd.asDiagonal() * std::pow(tau_s, 5)) * ie_F_21;
    
      }
    
      6444
      Eigen::Matrix3d n_Q_dr_dv(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const double& tau_s)
    
      {
    
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      6444
          return (0.5 * S_ra.asDiagonal() * std::pow(tau_s, 2) + 0.25 * S_bad.asDiagonal() * std::pow(tau_s, 4)) * T_rn_p
    
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      12888
                 + (0.25 * S_rg.asDiagonal() * std::pow(tau_s, 4) + 1.0 / 6.0 * S_bgd.asDiagonal() * std::pow(tau_s, 6)) * T_rn_p * n_F_21 * n_F_21.transpose();
    
      }
    
      6444
      Eigen::Matrix3d ie_Q_dr_dv(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const double& tau_s)
    
      {
    
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      6444
          return (0.5 * S_ra.asDiagonal() * std::pow(tau_s, 2) + 0.25 * S_bad.asDiagonal() * std::pow(tau_s, 4)) * Eigen::Matrix3d::Identity()
    
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      12888
                 + (0.25 * S_rg.asDiagonal() * std::pow(tau_s, 4) + 1.0 / 6.0 * S_bgd.asDiagonal() * std::pow(tau_s, 6)) * ie_F_21 * ie_F_21.transpose();
    
      }
    
      6444
      Eigen::Matrix3d n_Q_dr_dr(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const double& tau_s)
    
      {
    
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      6444
          return (1.0 / 3.0 * S_ra.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bad.asDiagonal() * std::pow(tau_s, 5)) * T_rn_p * T_rn_p
    
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      12888
                 + (0.2 * S_rg.asDiagonal() * std::pow(tau_s, 5) + 1.0 / 7.0 * S_bgd.asDiagonal() * std::pow(tau_s, 7)) * T_rn_p * n_F_21 * n_F_21.transpose() * T_rn_p;
    
      }
    
      6444
      Eigen::Matrix3d ie_Q_dr_dr(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const double& tau_s)
    
      {
    
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      6444
          return (1.0 / 3.0 * S_ra.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bad.asDiagonal() * std::pow(tau_s, 5)) * Eigen::Matrix3d::Identity()
    
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      12888
                 + (0.2 * S_rg.asDiagonal() * std::pow(tau_s, 5) + 1.0 / 7.0 * S_bgd.asDiagonal() * std::pow(tau_s, 7)) * ie_F_21 * ie_F_21.transpose();
    
      }
    
      6444
      Eigen::Matrix3d n_Q_dr_df(const Eigen::Vector3d& S_bad, const Eigen::Matrix3d& T_rn_p, const Eigen::Matrix3d& n_Dcm_b, const double& tau_s)
    
      {
    
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      6444
          return 1.0 / 3.0 * S_bad.asDiagonal() * std::pow(tau_s, 3) * T_rn_p * n_Dcm_b;
    
      }
    
      6444
      Eigen::Matrix3d ie_Q_dr_df(const Eigen::Vector3d& S_bad, const Eigen::Matrix3d& ie_Dcm_b, const double& tau_s)
    
      {
    
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      6444
          return 1.0 / 3.0 * S_bad.asDiagonal() * std::pow(tau_s, 3) * ie_Dcm_b;
    
      }
    
      6444
      Eigen::Matrix3d n_Q_dr_domega(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const Eigen::Matrix3d& n_Dcm_b, const double& tau_s)
    
      {
    
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      6444
          return 0.25 * S_bgd.asDiagonal() * std::pow(tau_s, 4) * T_rn_p * n_F_21 * n_Dcm_b;
    
      }
    
      6444
      Eigen::Matrix3d ie_Q_dr_domega(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const Eigen::Matrix3d& ie_Dcm_b, const double& tau_s)
    
      {
    
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      6444
          return 0.25 * S_bgd.asDiagonal() * std::pow(tau_s, 4) * ie_F_21 * ie_Dcm_b;
    
      }
    
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      Eigen::Matrix3d Q_df_dv(const Eigen::Vector3d& S_bad, const Eigen::Matrix3d& b_Dcm_ien, const double& tau_s)
    
      {
    
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          return 0.5 * S_bad.asDiagonal() * std::pow(tau_s, 2) * b_Dcm_ien;
    
      }
    
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      Eigen::Matrix3d Q_df_df(const Eigen::Vector3d& S_bad, const double& tau_s)
    
      {
    
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          return S_bad.asDiagonal() * tau_s * Eigen::Matrix3d::Identity();
    
      }
    
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      Eigen::Matrix3d Q_domega_psi(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& b_Dcm_ien, const double& tau_s)
    
      {
    
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          return 0.5 * S_bgd.asDiagonal() * std::pow(tau_s, 2) * b_Dcm_ien;
    
      }
    
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      Eigen::Matrix3d Q_domega_domega(const Eigen::Vector3d& S_bgd, const double& tau_s)
    
      {
    
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      12888
          return S_bgd.asDiagonal() * tau_s * Eigen::Matrix3d::Identity();
    
      }
    
      ✗
      Eigen::Matrix2d Q_gnss(const double& S_cPhi, const double& S_cf, const double& tau_s)
    
      {
    
      ✗
          Eigen::Matrix2d Qg = Eigen::Matrix2d::Zero();
    
      ✗
          Qg(0, 0) = S_cPhi * tau_s + 1. / 3. * S_cf * std::pow(tau_s, 3);
    
      ✗
          Qg(0, 1) = 0.5 * S_cf * std::pow(tau_s, 2);
    
      ✗
          Qg(1, 0) = 0.5 * S_cf * std::pow(tau_s, 2);
    
      ✗
          Qg(1, 1) = S_cf * tau_s;
    
      ✗
          return Qg;
    
      }
    
      } // namespace NAV

Line	Branch	Exec	Source
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			#include "ProcessNoise.hpp"
10
11			#include <Eigen/Dense>
12
13			namespace NAV
14			{
15
16		✗	Eigen::Matrix3d G_RandomWalk(const Eigen::Vector3d& sigma2)
17			{
18			// Math: \mathbf{G} = \begin{bmatrix} \sqrt{\sigma_{1}^2} & 0 & 0 \\ 0 & \sqrt{\sigma_{2}^2} & 0 \\ 0 & 0 & \sqrt{\sigma_{3}^2} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
19
20		✗	return Eigen::DiagonalMatrix<double, 3>{ sigma2.cwiseSqrt() };
21			}
22
23		✗	Eigen::Matrix3d G_GaussMarkov1(const Eigen::Vector3d& sigma2, const Eigen::Vector3d& beta)
24			{
25			// Math: \mathbf{G} = \begin{bmatrix} \sqrt{2 \sigma_{1}^2 \beta_{1}} & 0 & 0 \\ 0 & \sqrt{2 \sigma_{2}^2 \beta_{2}} & 0 \\ 0 & 0 & \sqrt{2 \sigma_{3}^2 \beta_{3}} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
26		✗	return Eigen::DiagonalMatrix<double, 3>{ (2.0 * beta.cwiseProduct(sigma2)).cwiseSqrt() };
27			}
28
29		25776	Eigen::Vector3d psd2BiasGaussMarkov(const Eigen::Vector3d& sigma2_bd, const Eigen::Vector3d& tau_bd)
30			{
31			// Math: u_{bias}^2 = \frac{2\sigma_{bd}^2}{\tau_{bd}} \qquad \text{Brown & Hwang, example 9.6}
32	5/10 ✓ Branch 1 taken 25776 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 25776 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 25776 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 25776 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 25776 times. ✗ Branch 14 not taken.	25776	return 2 * sigma2_bd.array() / tau_bd.array();
33			}
34
35		12888	Eigen::Matrix3d Q_psi_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const double& tau_s)
36			{
37	9/18 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12888 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 12888 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 12888 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12888 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 12888 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 12888 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 12888 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 12888 times. ✗ Branch 27 not taken.	12888	return (S_rg.asDiagonal() * tau_s + 1.0 / 3.0 * S_bgd.asDiagonal() * std::pow(tau_s, 3)) * Eigen::Matrix3d::Identity();
38			}
39
40		12888	Eigen::Matrix3d ien_Q_dv_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ien_F_21, const double& tau_s)
41			{
42	9/18 ✓ Branch 2 taken 12888 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 12888 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 12888 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 12888 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 12888 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 12888 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12888 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12888 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12888 times. ✗ Branch 28 not taken.	12888	return (0.5 * S_rg.asDiagonal() * std::pow(tau_s, 2) + 0.25 * S_bgd.asDiagonal() * std::pow(tau_s, 4)) * ien_F_21;
43			}
44
45		12888	Eigen::Matrix3d ien_Q_dv_dv(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ien_F_21, const double& tau_s)
46			{
47	8/16 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12888 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 12888 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 12888 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12888 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 12888 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 12888 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 12888 times. ✗ Branch 24 not taken.	12888	return (S_ra.asDiagonal() * tau_s + 1.0 / 3.0 * S_bad.asDiagonal() * std::pow(tau_s, 3)) * Eigen::Matrix3d::Identity()
48	12/24 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12888 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 12888 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 12888 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 12888 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 12888 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12888 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12888 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12888 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 12888 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 12888 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 12888 times. ✗ Branch 37 not taken.	25776	+ (1.0 / 3.0 * S_rg.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bgd.asDiagonal() * std::pow(tau_s, 5)) * ien_F_21 * ien_F_21.transpose();
49			}
50
51		12888	Eigen::Matrix3d ien_Q_dv_domega(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ien_F_21, const Eigen::Matrix3d& ien_Dcm_b, const double& tau_s)
52			{
53	6/12 ✓ Branch 2 taken 12888 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 12888 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 12888 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 12888 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12888 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 12888 times. ✗ Branch 18 not taken.	12888	return 1.0 / 3.0 * S_bgd.asDiagonal() * std::pow(tau_s, 3) * ien_F_21 * ien_Dcm_b;
54			}
55
56		6444	Eigen::Matrix3d n_Q_dr_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const double& tau_s)
57			{
58	10/20 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 6444 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 6444 times. ✗ Branch 31 not taken.	6444	return (1.0 / 3.0 * S_rg.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bgd.asDiagonal() * std::pow(tau_s, 5)) * T_rn_p * n_F_21;
59			}
60
61		6444	Eigen::Matrix3d ie_Q_dr_psi(const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const double& tau_s)
62			{
63	9/18 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 6444 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken.	6444	return (1.0 / 3.0 * S_rg.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bgd.asDiagonal() * std::pow(tau_s, 5)) * ie_F_21;
64			}
65
66		6444	Eigen::Matrix3d n_Q_dr_dv(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const double& tau_s)
67			{
68	8/16 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 6444 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken.	6444	return (0.5 * S_ra.asDiagonal() * std::pow(tau_s, 2) + 0.25 * S_bad.asDiagonal() * std::pow(tau_s, 4)) * T_rn_p
69	13/26 ✓ Branch 1 taken 6444 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 6444 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 6444 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 6444 times. ✗ Branch 37 not taken. ✓ Branch 39 taken 6444 times. ✗ Branch 40 not taken.	12888	+ (0.25 * S_rg.asDiagonal() * std::pow(tau_s, 4) + 1.0 / 6.0 * S_bgd.asDiagonal() * std::pow(tau_s, 6)) * T_rn_p * n_F_21 * n_F_21.transpose();
70			}
71
72		6444	Eigen::Matrix3d ie_Q_dr_dv(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const double& tau_s)
73			{
74	9/18 ✓ Branch 1 taken 6444 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken.	6444	return (0.5 * S_ra.asDiagonal() * std::pow(tau_s, 2) + 0.25 * S_bad.asDiagonal() * std::pow(tau_s, 4)) * Eigen::Matrix3d::Identity()
75	12/24 ✓ Branch 1 taken 6444 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 6444 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 6444 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 6444 times. ✗ Branch 37 not taken.	12888	+ (0.25 * S_rg.asDiagonal() * std::pow(tau_s, 4) + 1.0 / 6.0 * S_bgd.asDiagonal() * std::pow(tau_s, 6)) * ie_F_21 * ie_F_21.transpose();
76			}
77
78		6444	Eigen::Matrix3d n_Q_dr_dr(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const double& tau_s)
79			{
80	9/18 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 6444 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken.	6444	return (1.0 / 3.0 * S_ra.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bad.asDiagonal() * std::pow(tau_s, 5)) * T_rn_p * T_rn_p
81	14/28 ✓ Branch 1 taken 6444 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 6444 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 6444 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 6444 times. ✗ Branch 37 not taken. ✓ Branch 39 taken 6444 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 6444 times. ✗ Branch 43 not taken.	12888	+ (0.2 * S_rg.asDiagonal() * std::pow(tau_s, 5) + 1.0 / 7.0 * S_bgd.asDiagonal() * std::pow(tau_s, 7)) * T_rn_p * n_F_21 * n_F_21.transpose() * T_rn_p;
82			}
83
84		6444	Eigen::Matrix3d ie_Q_dr_dr(const Eigen::Vector3d& S_ra, const Eigen::Vector3d& S_bad, const Eigen::Vector3d& S_rg, const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const double& tau_s)
85			{
86	9/18 ✓ Branch 1 taken 6444 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken.	6444	return (1.0 / 3.0 * S_ra.asDiagonal() * std::pow(tau_s, 3) + 0.2 * S_bad.asDiagonal() * std::pow(tau_s, 5)) * Eigen::Matrix3d::Identity()
87	12/24 ✓ Branch 1 taken 6444 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6444 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6444 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6444 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6444 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6444 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 6444 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 6444 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 6444 times. ✗ Branch 37 not taken.	12888	+ (0.2 * S_rg.asDiagonal() * std::pow(tau_s, 5) + 1.0 / 7.0 * S_bgd.asDiagonal() * std::pow(tau_s, 7)) * ie_F_21 * ie_F_21.transpose();
88			}
89
90		6444	Eigen::Matrix3d n_Q_dr_df(const Eigen::Vector3d& S_bad, const Eigen::Matrix3d& T_rn_p, const Eigen::Matrix3d& n_Dcm_b, const double& tau_s)
91			{
92	6/12 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6444 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6444 times. ✗ Branch 18 not taken.	6444	return 1.0 / 3.0 * S_bad.asDiagonal() * std::pow(tau_s, 3) * T_rn_p * n_Dcm_b;
93			}
94
95		6444	Eigen::Matrix3d ie_Q_dr_df(const Eigen::Vector3d& S_bad, const Eigen::Matrix3d& ie_Dcm_b, const double& tau_s)
96			{
97	5/10 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6444 times. ✗ Branch 15 not taken.	6444	return 1.0 / 3.0 * S_bad.asDiagonal() * std::pow(tau_s, 3) * ie_Dcm_b;
98			}
99
100		6444	Eigen::Matrix3d n_Q_dr_domega(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& n_F_21, const Eigen::Matrix3d& T_rn_p, const Eigen::Matrix3d& n_Dcm_b, const double& tau_s)
101			{
102	7/14 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6444 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6444 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 6444 times. ✗ Branch 21 not taken.	6444	return 0.25 * S_bgd.asDiagonal() * std::pow(tau_s, 4) * T_rn_p * n_F_21 * n_Dcm_b;
103			}
104
105		6444	Eigen::Matrix3d ie_Q_dr_domega(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& ie_F_21, const Eigen::Matrix3d& ie_Dcm_b, const double& tau_s)
106			{
107	6/12 ✓ Branch 2 taken 6444 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 6444 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 6444 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 6444 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6444 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6444 times. ✗ Branch 18 not taken.	6444	return 0.25 * S_bgd.asDiagonal() * std::pow(tau_s, 4) * ie_F_21 * ie_Dcm_b;
108			}
109
110		12888	Eigen::Matrix3d Q_df_dv(const Eigen::Vector3d& S_bad, const Eigen::Matrix3d& b_Dcm_ien, const double& tau_s)
111			{
112	5/10 ✓ Branch 2 taken 12888 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 12888 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 12888 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 12888 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12888 times. ✗ Branch 15 not taken.	12888	return 0.5 * S_bad.asDiagonal() * std::pow(tau_s, 2) * b_Dcm_ien;
113			}
114
115		12888	Eigen::Matrix3d Q_df_df(const Eigen::Vector3d& S_bad, const double& tau_s)
116			{
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118			}
119
120		12888	Eigen::Matrix3d Q_domega_psi(const Eigen::Vector3d& S_bgd, const Eigen::Matrix3d& b_Dcm_ien, const double& tau_s)
121			{
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123			}
124
125		12888	Eigen::Matrix3d Q_domega_domega(const Eigen::Vector3d& S_bgd, const double& tau_s)
126			{
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128			}
129
130		✗	Eigen::Matrix2d Q_gnss(const double& S_cPhi, const double& S_cf, const double& tau_s)
131			{
132		✗	Eigen::Matrix2d Qg = Eigen::Matrix2d::Zero();
133		✗	Qg(0, 0) = S_cPhi * tau_s + 1. / 3. * S_cf * std::pow(tau_s, 3);
134		✗	Qg(0, 1) = 0.5 * S_cf * std::pow(tau_s, 2);
135		✗	Qg(1, 0) = 0.5 * S_cf * std::pow(tau_s, 2);
136		✗	Qg(1, 1) = S_cf * tau_s;
137		✗	return Qg;
138			}
139
140			} // namespace NAV
141