NAV Namespace Reference

Namespaces
namespace	AppLogic
namespace	BsplineKF
namespace	ButcherTableau
namespace	CartesianProduct
namespace	ConfigManager
namespace	detail
namespace	experimental
namespace	flow
namespace	FlowAnimation
namespace	FlowExecutor
namespace	Geoid
namespace	gui
namespace	InsTimeUtil
	Utility Namespace for Time related tasks.
namespace	internal
	EGM96 coefficients.
namespace	IRWKF
namespace	Keys
namespace	math
namespace	NodeManager
namespace	NodeRegistry
namespace	Sleep
namespace	SPP
namespace	str
namespace	trafo
namespace	Units
namespace	util
namespace	vendor

Data Structures
class	AllanDeviation
	Computes Allan Deviation of IMU Observations. More...
class	AntexReader
	ANTEX file reader. More...
class	ArubaSensor
	Aruba Sensor Class. More...
struct	AtmosphereModels
	Atmospheric model selection for temperature, pressure and water vapor. More...
class	AttitudeModel
	Attitude System Model. More...
class	BaroHgt
	Barometric height storage class. More...
class	BaroPressObs
	Barometric pressure storage class. More...
class	BaroSimulator
	Convert RTKLib pos files into PosVel. More...
class	BDCSVD
	Bidiagonal Divide and Conquer SVD Curve Fitting. More...
class	BDSEphemeris
	Broadcasted ephemeris message data. More...
class	Clock
	Abstract satellite clock information. More...
class	COD
	Complete Orthogonal Decomposition Curve Fitting. More...
class	Code
	Enumerate for GNSS Codes. More...
class	Colormap
	Colormap class. More...
class	Combiner
	Calculates differences between signals. More...
class	CommonLog
	Common logging variables like time into run and local positions. More...
class	CsvData
	CSV Data container. More...
class	CsvFile
	CSV File reader. More...
class	CsvLogger
	Data Logger for PosVelAtt observations. More...
class	CubicSpline
	Cubic Spline class. More...
class	CycleSlipDetector
	Cycle-slip detector. More...
class	Demo
	Demonstrates the basic GUI functionality of nodes. More...
class	DynamicData
	Dynamic Data container. More...
class	EmlidFile
	File Reader for Emlid log files. More...
class	EmlidObs
	Emlid Observation Class. More...
class	EmlidSensor
	Emlid Sensor Class. More...
class	ErrorModel
	Adds errors (biases and noise) to measurements. More...
class	EspressifSensor
	Espressif Sensor Class. More...
class	FileReader
	Abstract File Reader class. More...
class	FileWriter
	Parent class for other data loggers which manages the output filestream. More...
class	Frequency
	Frequency definition for different satellite systems. More...
class	GalileoEphemeris
	Broadcasted ephemeris message data. More...
class	GLONASSEphemeris
	Broadcasted ephemeris message data. More...
class	GnssAnalyzer
	Allows creation of GNSS measurement combinations. More...
class	GnssCombination
	GNSS measurement combinations. More...
class	GnssMeasurementErrorModel
	Errors concerning GNSS observations. More...
class	GnssNavInfo
	GNSS Navigation message information. More...
class	GnssObs
	GNSS Observation message information. More...
class	GPSEphemeris
	Broadcasted ephemeris message data. More...
struct	GPT2output
	GPT2 output parameters. More...
struct	GPT3output
	GPT3 output parameters. More...
class	GroupBox
	Group Box. More...
class	HouseholderQr
	Householder QR decomposition Curve Fitting. More...
class	Imu
	Abstract IMU Class. More...
class	ImuFile
	File Reader for Imu log files. More...
class	ImuFusion
	Combines signals of sensors that provide the same signal-type to one signal. More...
class	ImuIntegrator
	Numerically integrates Imu data. More...
class	ImuObs
	IMU Observation storage class. More...
class	ImuObsSimulated
	VectorNav Observation storage Class. More...
class	ImuObsWDelta
	VectorNav Observation storage Class. More...
class	ImuPos
	IMU Position. More...
class	ImuSimulator
	Imu Observation Simulator. More...
class	IncrementalLeastSquares
	Incremental Least Squares Curve Fitting. More...
class	InertialIntegrator
	Inertial Measurement Integrator. More...
class	InputPin
	Input pins of nodes. More...
class	InsConst
	Constants. More...
class	InsGnssLCKFSolution
	Loosely-coupled Kalman Filter INS/GNSS errors. More...
class	InsGnssTCKFSolution
	Tightly-coupled Kalman Filter INS/GNSS errors. More...
class	InsTime
	The class is responsible for all time-related tasks. More...
struct	InsTime_GPSweekTow
	GPS week and time of week in GPS standard time [GPST]. More...
struct	InsTime_JD
	Julien Date [UTC]. More...
struct	InsTime_MJD
	Modified Julien Date [UTC]. More...
struct	InsTime_YDoySod
	GPS year and day of year in GPS standard time [GPST]. More...
struct	InsTime_YMDHMS
	Universal Time Coordinated [UTC]. More...
class	InterFrequencyBiasModel
	Inter Frequency Bias System Model. More...
class	IonosphericCorrections
	Ionospheric Corrections. More...
class	IRNSSEphemeris
	Broadcasted ephemeris message data. More...
class	KalmanFilter
	Generalized Kalman Filter class. More...
class	KeyedKalmanFilter
	Keyed Kalman Filter class. More...
struct	KeyedLeastSquaresResult
	Least Squares Uncertainties return value. More...
class	KeyedMap
	Similar to KeyedMatrix, but memory is allocated in a map and therefore never reallocated. More...
class	KeyedMatrix
	Static sized KeyedMatrix. More...
class	KeyedMatrix< Scalar, RowKeyType, ColKeyType, Eigen::Dynamic, Eigen::Dynamic >
	Dynamic sized KeyedMatrix.
class	KeyedRowVector
	Static sized KeyedRowVector. More...
class	KeyedRowVector< Scalar, ColKeyType, Eigen::Dynamic >
	Dynamic sized KeyedRowVector.
class	KeyedVector
	Static sized KeyedVector. More...
class	KeyedVector< Scalar, RowKeyType, Eigen::Dynamic >
	Dynamic sized KeyedVector.
class	KmlLogger
	Data Logger for Pos data as KML files (input for Google Earth) More...
class	KvhFile
	File Reader for Kvh log files. More...
class	KvhObs
	Kvh Observation storage Class. More...
class	KvhSensor
	KVH Sensor Class. More...
class	LeastSquares
	Least Squares Curve Fitting. More...
struct	LeastSquaresResult
	Least Squares Uncertainties return value. More...
class	LooselyCoupledKF
	Loosely-coupled Kalman Filter for INS/GNSS integration. More...
class	LowPassFilter
	Filters incoming data. More...
class	MatrixLogger
	Data Logger for PosVelAtt observations. More...
class	Merger
	Merges two input ports into a single output port. More...
class	MotionModel
	Motion System Model. More...
class	MultiImuFile
	File reader for Multi-IMU data log files. More...
class	Navio2Sensor
	Navio2Sensor Sensor Class. More...
class	NmeaFile
	File Reader for NMEA log files. More...
class	Node
	Abstract parent class for all nodes. More...
class	NodeData
	Parent class for all data transmitted over Flow pins. More...
class	ObservationEstimator
	Calculates Observation estimates. More...
class	ObservationFilter
	Observation Filter. More...
struct	Observations
	Observation storage type. More...
class	Orbit
	Abstract satellite orbit information. More...
class	OutputPin
	Output pins of nodes. More...
class	Pin
	Pins in the GUI for information exchange. More...
struct	PinData
	Information about a sensor which is connected to a certain pin (i.e. sensor characteristics defined in GUI) More...
struct	PinDataBsplineKF
	Sensor information specific to the Bspline-KF. More...
struct	PinDataIRWKF
	Sensor information specific to the IRW-KF. More...
class	Plot
	Plot node which plots all kind of observations. More...
struct	PlotEventTooltip
	Tooltip for plot events. More...
struct	PlotItemStyle
	Specifying the look of a certain line in the plot. More...
struct	PlotTooltip
	Plot Tooltip windows to show. More...
class	Polynomial
	Polynomial. More...
class	PolynomialCycleSlipDetector
	Cycle-slip detection. More...
class	PolynomialRegressor
	Polynomial Curve Fitting. More...
class	Pos
	Position Storage Class. More...
class	PosVel
	Position and Velocity Storage Class. More...
class	PosVelAtt
	Position, Velocity and Attitude Storage Class. More...
struct	PosVelAttDerivativeConstants
	Values needed to calculate the PosVelAttDerivative for the local-navigation frame. More...
class	PosVelAttFile
	File Reader for Imu log files. More...
class	PosVelAttInitializer
	Position, Velocity, Attitude Initializer from GPS and IMU data. More...
class	PressToHgt
	Pressure to height converter. More...
class	QZSSEphemeris
	Broadcasted ephemeris message data. More...
class	RandomNumberGenerator
	Manages a thread which calls a specified function at a specified interval. More...
struct	Receiver
	Receiver information. More...
struct	ReceiverClock
	Receiver Clock information. More...
class	ReceiverClockModel
	Receiver Clock System Model. More...
class	RinexNavFile
	File reader Node for RINEX Navigation messages. More...
class	RinexObsFile
	File reader Node for RINEX Observation messages. More...
class	RinexObsLogger
	Data Logger for GnssObs to RINEX observation files. More...
class	RtklibPosConverter
	Convert RTKLib pos files into PosVel. More...
class	RtklibPosFile
	File Reader for RTKLIB pos log files. More...
class	RtklibPosObs
	RTKLIB Observation Class. More...
class	Satellite
	Satellite class. More...
struct	SatelliteSystem
	Satellite System type. More...
struct	SatId
	Identifies a satellite (satellite system and number) More...
class	SatNavData
	Satellite Navigation data (to calculate SatNavData and clock) More...
struct	SatSigId
	Identifies a satellite signal (satellite frequency and number) More...
class	ScrollingBuffer
	A buffer which is overwriting itself from the start when full. More...
class	SinglePointPositioning
	Numerically integrates Imu data. More...
class	SNRMask
	Signal to Noise Ratio Mask. More...
class	SppSolution
	SPP Algorithm output. More...
class	StringObs
	IMU Observation storage class. More...
class	TemperatureModel
	Temperature Model parameters. More...
class	Terminator
	Terminator for open signals. Mainly used for test flows. More...
class	TimeSystem
	Time System defintions. More...
class	TimeWindow
	Limits measurement data from any source to a user-defined timewindow. More...
struct	TroposphereModelSelection
	Collection of troposphere model selections. More...
class	TsDeque
	Thread-safe deque. More...
class	UartDataLogger
	Data Logger for Ublox observations. More...
class	UartPacket
	UART Packet storage class. More...
class	UartPacketConverter
	Decrypts Uart packets. More...
class	UartSensor
	Abstract Uart Sensor Class. More...
class	UbloxFile
	File Reader for Ublox log files. More...
class	UbloxGnssObsConverter
	Convert UbloxObs into GnssObs. More...
class	UbloxGnssOrbitCollector
	Collects UBX-RXM-SFRBX messages and provides the Orbit information. More...
class	UbloxObs
	ublox Observation Class More...
class	UbloxSensor
	Ublox Sensor Class. More...
class	UdpRecv
	UDP Client. More...
class	UdpSend
	UDP Client. More...
class	UlogFile
	File Reader for ULog files ('.ulg') More...
struct	UncertainValue
	Value with standard deviation. More...
class	VectorNavBinaryConverter
	Converts VectorNavBinaryOutput. More...
class	VectorNavBinaryOutput
	IMU Observation storage class. More...
class	VectorNavDataLogger
	Data Logger for VectorNav observations. More...
class	VectorNavFile
	File Reader for Vector Nav log files. More...
class	VectorNavSensor
	Vector Nav Sensor Class. More...
class	WiFiObs
	Espressif Observation Class. More...
class	WiFiObsFile
	File Reader for Imu log files. More...
class	WiFiObsLogger
	Data Logger for WiFiObs observations. More...
class	WiFiPositioning
	Numerically integrates Imu data. More...
class	WiFiPositioningSolution
	WiFi Positioning Algorithm Solution. More...
struct	ZenithDelay
	Zenith delays and mapping factors. More...

Typedefs
template<typename StateKeyType, typename MeasKeyType>
using	KeyedKalmanFilterD
	Keyed Kalman Filter class with double as type.
template<typename RowKeyType, typename ColKeyType = RowKeyType>
using	KeyedMatrix2d
	Static 2x2 squared size KeyedMatrix with double types.
template<typename RowKeyType, typename ColKeyType = RowKeyType>
using	KeyedMatrix3d
	Static 3x3 squared size KeyedMatrix with double types.
template<typename RowKeyType, typename ColKeyType = RowKeyType>
using	KeyedMatrix4d
	Static 4x4 squared size KeyedMatrix with double types.
template<typename RowKeyType, typename ColKeyType = RowKeyType>
using	KeyedMatrix5d
	Static 5x5 squared size KeyedMatrix with double types.
template<typename RowKeyType, typename ColKeyType = RowKeyType>
using	KeyedMatrix6d
	Static 6x6 squared size KeyedMatrix with double types.
template<typename Scalar, typename RowKeyType, typename ColKeyType = RowKeyType>
using	KeyedMatrixX
	Dynamic size KeyedMatrix.
template<typename RowKeyType, typename ColKeyType = RowKeyType>
using	KeyedMatrixXd
	Dynamic size KeyedMatrix with double types.
template<typename ColKeyType>
using	KeyedRowVector2d
	Static 2 col KeyedRowVector with double types.
template<typename ColKeyType>
using	KeyedRowVector3d
	Static 3 col KeyedRowVector with double types.
template<typename ColKeyType>
using	KeyedRowVector4d
	Static 4 col KeyedRowVector with double types.
template<typename ColKeyType>
using	KeyedRowVector5d
	Static 5 col KeyedRowVector with double types.
template<typename ColKeyType>
using	KeyedRowVector6d
	Static 6 col KeyedRowVector with double types.
template<typename Scalar, typename ColKeyType>
using	KeyedRowVectorX
	Dynamic size KeyedRowVector.
template<typename ColKeyType>
using	KeyedRowVectorXd
	Dynamic size KeyedRowVector with double types.
template<typename RowKeyType>
using	KeyedVector2d
	Static 2 row KeyedVector with double types.
template<typename RowKeyType>
using	KeyedVector3d
	Static 3 row KeyedVector with double types.
template<typename RowKeyType>
using	KeyedVector4d
	Static 4 row KeyedVector with double types.
template<typename RowKeyType>
using	KeyedVector5d
	Static 5 row KeyedVector with double types.
template<typename RowKeyType>
using	KeyedVector6d
	Static 6 row KeyedVector with double types.
template<typename Scalar, typename RowKeyType>
using	KeyedVectorX
	Dynamic size KeyedVector.
template<typename RowKeyType>
using	KeyedVectorXd
	Dynamic size KeyedVector with double types.

Enumerations
enum class	ColormapMaskType : uint8_t {   None ,   Global ,   Flow }
	Type of the Colormap mask. More...
enum	Frequency_ : uint64_t {   Freq_None ,   G01 ,   G02 ,   G05 ,   E01 ,   E05 ,   E06 ,   E07 ,   E08 ,   R01 ,   R02 ,   R03 ,   R04 ,   R06 ,   B01 ,   B02 ,   B05 ,   B06 ,   B07 ,   B08 ,   J01 ,   J02 ,   J05 ,   J06 ,   I05 ,   I09 ,   S01 ,   S05 }
	Enumerate for GNSS frequencies. More...
enum class	GravitationModel : uint8_t {   None ,   WGS84 ,   WGS84_Skydel ,   Somigliana ,   EGM96 ,   COUNT }
	Available Gravitation Models. More...
enum class	IonosphereModel : uint8_t {   None ,   Klobuchar ,   COUNT }
	Available Ionosphere Models. More...
enum class	MappingFunction : uint8_t {   None ,   Cosecant ,   GMF ,   NMF ,   VMF_GPT2 ,   VMF_GPT3 ,   COUNT }
	Available Mapping Functions. More...
enum class	PolynomialCycleSlipDetectorResult : uint8_t {   Disabled ,   LessDataThanWindowSize ,   NoCycleSlip ,   CycleSlip }
	Cycle-slip detection result type. More...
enum class	PressureModel : uint8_t {   None ,   ConstNN ,   ISA ,   GPT2 ,   GPT3 ,   COUNT }
	Available pressure Models. More...
enum	SatelliteSystem_ : uint64_t {   SatSys_None ,   GPS ,   GAL ,   GLO ,   BDS ,   QZSS ,   IRNSS ,   SBAS }
	Satellite System enumeration. More...
enum class	SystemModelCalcAlgorithm : uint8_t {   VanLoan ,   Taylor1 }
	Algorithms to calculate the system model with. More...
enum	TimeSystem_ : uint8_t {   TimeSys_None ,   UTC ,   GPST ,   GLNT ,   GST ,   BDT ,   QZSST ,   IRNSST }
	List of all time systems. More...
enum class	TroposphereModel : uint8_t {   None ,   Saastamoinen ,   GPT2 ,   GPT3 ,   COUNT }
	Available Troposphere delay models. More...
enum class	WaterVaporModel : uint8_t {   None ,   ISA ,   GPT2 ,   GPT3 ,   COUNT }
	Available Water vapor Models. More...

Functions
template<typename Scalar, int Size>
Eigen::Vector< Scalar, Size >	apply_permutation (const Eigen::Vector< Scalar, Size > &vec, const std::vector< size_t > &p)
	Sort a vector with a permutation.
template<typename T>
std::vector< T >	apply_permutation (const std::vector< T > &vec, const std::vector< size_t > &p)
	Sort a std::vector with a permutation.
template<typename Derived>
Derived::PlainObject	apply_permutation_colwise (const Eigen::MatrixBase< Derived > &m, const std::vector< size_t > &p)
	Sort a matrix col-wise with a permutation.
template<typename Scalar, int Rows, int Cols>
void	apply_permutation_colwise_in_place (Eigen::Matrix< Scalar, Rows, Cols > &m, const std::vector< size_t > &p)
	Sort a matrix col-wise with a permutation.
template<typename Scalar, int Size>
void	apply_permutation_in_place (Eigen::Vector< Scalar, Size > &vec, const std::vector< size_t > &p)
	Sort a vector with a permutation.
template<typename T>
void	apply_permutation_in_place (std::vector< T > &vec, const std::vector< size_t > &p)
	Sort a std::vector with a permutation.
template<typename Derived>
Derived::PlainObject	apply_permutation_rowwise (const Eigen::MatrixBase< Derived > &m, const std::vector< size_t > &p)
	Sort a matrix row-wise with a permutation.
template<typename Scalar, int Rows, int Cols>
void	apply_permutation_rowwise_in_place (Eigen::Matrix< Scalar, Rows, Cols > &m, const std::vector< size_t > &p)
	Sort a matrix row-wise with a permutation.
double	asknewet (const double &e, const double &Tm, const double &la)
	This subroutine determines the zenith wet delay.
constexpr double	calcAbsoluteTemperatureStAtm (double altitudeMSL)
	Calculates the standard atmosphere absolute temperature.
template<std::floating_point Scalar>
Scalar	calcEarthRadius_E (const Scalar &latitude, const Scalar &a=InsConst::WGS84::a, const Scalar &e_squared=InsConst::WGS84::e_squared)
	Calculates the East/West (prime vertical) earth radius.
template<std::floating_point Scalar>
Scalar	calcEarthRadius_N (const Scalar &latitude, const Scalar &a=InsConst::WGS84::a, const Scalar &e_squared=InsConst::WGS84::e_squared)
	Calculates the North/South (meridian) earth radius.
template<std::floating_point Scalar>
Scalar	calcGeocentricRadius (const Scalar &latitude, const Scalar &R_E, const Scalar &e_squared=InsConst::WGS84::e_squared)
	r_eS^e The distance of a point on the Earth's surface from the center of the Earth
template<std::floating_point Scalar>
Scalar	calcGeographicalDistance (Scalar lat1, Scalar lon1, Scalar lat2, Scalar lon2)
	Measure the distance between two points over an ellipsoidal-surface.
template<std::floating_point Scalar>
Scalar	calcGreatCircleDistance (Scalar lat1, Scalar lon1, Scalar lat2, Scalar lon2)
	Measure the distance between two points on a sphere.
double	calcIonosphericDelay (double tow, Frequency freq, int8_t freqNum, const Eigen::Vector3d &lla_pos, double elevation, double azimuth, IonosphereModel ionosphereModel=IonosphereModel::None, const IonosphericCorrections *corrections=nullptr)
	Calculates the ionospheric delay.
double	calcIonosphericTimeDelay_Klobuchar (double tow, Frequency freq, int8_t freqNum, double latitude, double longitude, double elevation, double azimuth, const std::array< double, 4 > &alpha, const std::array< double, 4 > &beta)
	Calculates the ionospheric time delay with the Klobuchar model.
template<typename DerivedF, typename DerivedG, typename DerivedW>
std::pair< typename DerivedF::PlainObject, typename DerivedF::PlainObject >	calcPhiAndQWithVanLoanMethod (const Eigen::MatrixBase< DerivedF > &F, const Eigen::MatrixBase< DerivedG > &G, const Eigen::MatrixBase< DerivedW > &W, double dt)
	Numerical Method to calculate the State transition matrix 𝚽 and System/Process noise covariance matrix 𝐐
template<typename DerivedF, typename DerivedG, typename DerivedW>
std::pair< typename DerivedF::PlainObject, typename DerivedF::PlainObject >	calcPhiAndQWithVanLoanMethod (const Eigen::MatrixBase< DerivedF > &F, const Eigen::MatrixBase< DerivedG > &G, const Eigen::MatrixBase< DerivedW > &W, double dt, size_t expmOrder)
	Numerical Method to calculate the State transition matrix 𝚽 and System/Process noise covariance matrix 𝐐
template<typename Derived>
Derived::Scalar	calcPitchFromStaticAcceleration (const Eigen::MatrixBase< Derived > &b_accel)
	Calculates the pitch angle from a static acceleration measurement.
template<typename Derived>
Derived::Scalar	calcPitchFromVelocity (const Eigen::MatrixBase< Derived > &n_velocity)
	Calculates the Pitch angle from the trajectory defined by the given velocity.
template<typename Derived>
Derived::Scalar	calcRollFromStaticAcceleration (const Eigen::MatrixBase< Derived > &b_accel)
	Calculates the roll angle from a static acceleration measurement.
template<typename DerivedA, typename DerivedB>
DerivedA::Scalar	calcSagnacCorrection (const Eigen::MatrixBase< DerivedA > &e_posAnt, const Eigen::MatrixBase< DerivedB > &e_satPos)
	Calculates the Earth rotation/Sagnac correction.
template<typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>
DerivedA::Scalar	calcSagnacRateCorrection (const Eigen::MatrixBase< DerivedA > &e_recvPos, const Eigen::MatrixBase< DerivedB > &e_satPos, const Eigen::MatrixBase< DerivedC > &e_recvVel, const Eigen::MatrixBase< DerivedD > &e_satVel)
	Calculates the Range-rate Earth rotation/Sagnac correction.
template<typename Derived>
Derived::Scalar	calcSatAzimuth (const Eigen::MatrixBase< Derived > &n_lineOfSightUnitVector)
	Calculates the azimuth of the satellite from the antenna.
template<typename Derived>
Derived::Scalar	calcSatElevation (const Eigen::MatrixBase< Derived > &n_lineOfSightUnitVector)
	Calculates the elevation of the satellite from the antenna.
template<typename DerivedA, typename DerivedB>
Eigen::Vector4< typename DerivedA::Scalar >	calcTimeDerivativeFor_e_Quat_b (const Eigen::MatrixBase< DerivedA > &b_omega_eb, const Eigen::MatrixBase< DerivedB > &e_Quat_b_coeffs)
	Calculates the time derivative of the quaternion e_Quat_b.
template<typename DerivedA, typename DerivedB>
Eigen::Vector4< typename DerivedA::Scalar >	calcTimeDerivativeFor_n_Quat_b (const Eigen::MatrixBase< DerivedA > &b_omega_nb, const Eigen::MatrixBase< DerivedB > &n_Quat_b_coeffs)
	Calculates the time derivative of the quaternion n_Quat_b.
double	calcTotalPressure (double altitudeMSL, PressureModel pressureModel)
	Calculates the total pressure.
constexpr double	calcTotalPressureStAtm (double altitudeMSL)
	Calculates the standard atmosphere total pressure.
double	calcTropoMapFunc_cosecant (double elevation)
	Calculates the mapping factor as cosecant of the elevation.
double	calcTropoMapFunc_GMFH (double mjd, const Eigen::Vector3d &lla_pos, double elevation)
	Calculates the Global Mapping Function (GMF) for the hydrostatic delay.
double	calcTropoMapFunc_GMFW (double mjd, const Eigen::Vector3d &lla_pos, double elevation)
	Calculates the Global Mapping Function (GMF) for the wet delay.
double	calcTropoMapFunc_NMFH (const InsTime &epoch, const Eigen::Vector3d &lla_pos, double elevation)
	Calculates the Niell Mapping Function (NMF) for the hydrostatic delay.
double	calcTropoMapFunc_NMFW (const Eigen::Vector3d &lla_pos, double elevation)
	Calculates the Niell Mapping Function (NMF) for the wet delay.
double	calcTropoMapFunc_secant (double zenithDistance)
	Calculates the mapping factor as cosecant of the elevation (= secant of the zenith distance)
ZenithDelay	calcTroposphericDelayAndMapping (const InsTime &insTime, const Eigen::Vector3d &lla_pos, double elevation, double azimuth, const TroposphereModelSelection &troposphereModels, const std::string &nameId)
	Calculates the tropospheric zenith hydrostatic and wet delays and corresponding mapping factors.
double	calcWaterVaporPartialPressure (double temp, double humidity_rel, WaterVaporModel waterVaporModel)
	Calculates the partial pressure of water vapor.
constexpr double	calcWaterVaporPartialPressureStAtm (double temp, double humidity_rel)
	Calculates the standard atmosphere partial pressure of water vapor.
template<typename Derived>
Derived::Scalar	calcYawFromVelocity (const Eigen::MatrixBase< Derived > &n_velocity)
	Calculates the Yaw angle from the trajectory defined by the given velocity.
double	calcZHD_Saastamoinen (const Eigen::Vector3d &lla_pos, double p)
	Calculates the tropospheric zenith hydrostatic delay with the Saastamoinen model.
double	calcZWD_Saastamoinen (double T, double e)
	Calculates the tropospheric zenith wet delay with the Saastamoinen model.
template<typename Function, typename... Ranges>
void	cartesian_product (Function function, Ranges const &... ranges)
	Calls a function on all combinations over ranges.
template<typename SubList, size_t N, typename Function>
void	cartesian_product (Function function, std::array< SubList, N > list)
	Calls a function on all combinations over ranges defined in an array, e.g. std::array<std::vector>
template<typename SubList, size_t N, typename Function>
void	cartesian_product_idx (Function function, std::array< SubList, N > list)
	Calls a function on all combinations over ranges defined in an array, e.g. std::array<std::vector>. Instead of providing the list entry to the function, provides the index of it in the sub list.
bool	ColormapButton (const char *label, Colormap &cmap, const ImVec2 &size_arg)
	Display a colormap button.
std::optional< std::reference_wrapper< const Colormap > >	ColormapSearch (const ColormapMaskType &type, const int64_t &id)
	Searches for the colormap in the Global and Flow colormaps.
bool	ComboGravitationModel (const char *label, GravitationModel &gravitationModel)
	Shows a ComboBox to select the gravitation model.
bool	ComboIonosphereModel (const char *label, IonosphereModel &ionosphereModel)
	Shows a ComboBox to select the ionosphere model.
bool	ComboPressureModel (const char *label, PressureModel &pressureModel)
	Shows a ComboBox to select the pressure model.
bool	ComboTemperatureModel (const char *label, TemperatureModel &temperatureModel)
	Shows a ComboBox to select the temperature model.
bool	ComboTimeSystem (const char *label, TimeSystem &timeSystem)
	Shows a ComboBox to select the time system.
bool	ComboTroposphereModel (const char *label, TroposphereModelSelection &troposphereModelSelection, float width=0.0F)
	Shows a ComboBox and button for advanced configuration to select the troposphere models.
bool	ComboWaterVaporModel (const char *label, WaterVaporModel &waterVaporModel)
	Shows a ComboBox to select the water vapor model.
template<typename Derived>
Eigen::Matrix3< typename Derived::Scalar >	conversionMatrixCartesianCurvilinear (const Eigen::MatrixBase< Derived > &lla_position, const typename Derived::Scalar &R_N, const typename Derived::Scalar &R_E)
	Conversion matrix between cartesian and curvilinear perturbations to the position.
double	convertUnit (const double &value, Units::AttitudeUncertaintyUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::AttitudeUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::CovarianceAccelUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::CovarianceAngularVelocityUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::CovarianceClkFrequencyDriftUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::CovarianceClkPhaseDriftUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::PositionUncertaintyUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::VelocityUncertaintyUnits unit)
	Converts the value depending on the unit provided.
double	convertUnit (const double &value, Units::VelocityUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerFilterBiasUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerFilterNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerIRWUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeFilterBiasUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeFilterNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeIRWUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeUnits unit)
	Converts the value depending on the unit provided.
Eigen::Vector3d	convertUnit (const Eigen::Vector3d &value, Units::AttitudeUncertaintyUnits unit)
	Converts the value depending on the unit provided.
Eigen::Vector3d	convertUnit (const Eigen::Vector3d &value, Units::AttitudeUnits unit)
	Converts the value depending on the unit provided.
Eigen::Vector3d	convertUnit (const Eigen::Vector3d &value, Units::PositionUncertaintyUnits unit)
	Converts the value depending on the unit provided.
Eigen::Vector3d	convertUnit (const Eigen::Vector3d &value, Units::VelocityUncertaintyUnits unit)
	Converts the value depending on the unit provided.
Eigen::Vector3d	convertUnit (const Eigen::Vector3d &value, Units::VelocityUnits unit)
	Converts the value depending on the unit provided.
template<std::size_t N, typename T>
constexpr std::array< T, N >	create_array (const T &value)
	Create an array with the value assigned to all elements in the container.
bool	CycleSlipDetectorGui (const char *label, CycleSlipDetector &cycleSlipDetector, float width=0.0F, bool dualFrequencyAvailable=true)
	Shows a GUI for advanced configuration of the CycleSlipDetector.
template<typename Scalar>
Eigen::Vector3< Scalar >	deg2rad (const Eigen::Vector3< Scalar > &deg)
	Convert Degree to Radians.
template<class T>
constexpr auto	deg2rad (const T &deg)
	Convert Degree to Radians.
double	doppler2rangeRate (double doppler, Frequency freq, int8_t num)
	Transforms a doppler-shift into a range-rate.
void	dscml (double rlon, double sinml[_361+1], double cosml[_361+1])
template<typename DerivedA, typename DerivedB = DerivedA>
Eigen::Vector3< typename DerivedA::Scalar >	e_calcCentrifugalAcceleration (const Eigen::MatrixBase< DerivedA > &e_position, const Eigen::MatrixBase< DerivedB > &e_omega_ie=InsConst::e_omega_ie)
	Calculates the centrifugal acceleration in [m/s^2] (acceleration that makes a body follow a curved path)
template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedB::Scalar >	e_calcCoriolisAcceleration (const Eigen::MatrixBase< DerivedA > &e_omega_ie, const Eigen::MatrixBase< DerivedB > &e_velocity)
	Calculates the coriolis acceleration in [m/s^2] (acceleration due to motion in rotating reference frame)
template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedA::Scalar >	e_calcLineOfSightUnitVector (const Eigen::MatrixBase< DerivedA > &e_posAnt, const Eigen::MatrixBase< DerivedB > &e_posSat)
	Calculates the line-of-sight unit vector from the user antenna to the satellite.
template<typename T>
Eigen::Vector< T, 10 >	e_calcPosVelAttDerivative (const Eigen::Vector< T, 10 > &y, const Eigen::Vector< T, 6 > &z, const PosVelAttDerivativeConstants &c, double=0.0)
	Calculates the derivative of the quaternion, velocity and position in ECEF coordinates.
template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	e_calcTimeDerivativeForPosition (const Eigen::MatrixBase< Derived > &e_velocity)
	Calculates the time derivative of the ECEF position.
template<typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>
Eigen::Vector3< typename DerivedA::Scalar >	e_calcTimeDerivativeForVelocity (const Eigen::MatrixBase< DerivedA > &e_measuredForce, const Eigen::MatrixBase< DerivedB > &e_coriolisAcceleration, const Eigen::MatrixBase< DerivedC > &e_gravitation, const Eigen::MatrixBase< DerivedD > &e_centrifugalAcceleration)
	Calculates the time derivative of the velocity in ECEF frame coordinates.
template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 3, 3 >	e_F_df_df (const Eigen::MatrixBase< Derived > &beta_a)
	Calculates the matrix 𝐅_𝛿f'_𝛿f.
template<typename T>
Eigen::Matrix3< T >	e_F_dpsi_dpsi (const T &omega_ie)
	Calculates the matrix 𝐅_𝜓'_𝜓
template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 3, 3 >	e_F_dpsi_dw (const Eigen::MatrixBase< Derived > &e_Dcm_b)
	Calculates the matrix 𝐅_𝜓'_𝛿ω
template<typename Derived1, typename Derived2>
Eigen::Matrix< typename Derived2::Scalar, 4, 3 >	e_F_dq_dGyroBias (const Eigen::QuaternionBase< Derived1 > &b_quat_p, const Eigen::QuaternionBase< Derived2 > &e_quat_b)
	Calculate the linearized attitude quaternion differential equation partially derived for the angular rate bias.
template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5>
Eigen::Matrix4< typename Derived5::Scalar >	e_F_dq_dGyroMisalignment (const Eigen::MatrixBase< Derived1 > &p_gyroScale, const Eigen::QuaternionBase< Derived2 > &p_quatGyro_ps, const Eigen::MatrixBase< Derived3 > &ps_omega_ip, const Eigen::QuaternionBase< Derived4 > &b_quat_p, const Eigen::QuaternionBase< Derived5 > &e_quat_b)
	Calculate the linearized attitude quaternion differential equation partially derived for the gyroscope misalignment.
template<typename Derived1, typename Derived2, typename Derived3, typename Derived4>
Eigen::Matrix< typename Derived4::Scalar, 4, 3 >	e_F_dq_dGyroScale (const Eigen::QuaternionBase< Derived1 > &p_quatGyro_ps, const Eigen::MatrixBase< Derived2 > &ps_omega_ip, const Eigen::QuaternionBase< Derived3 > &b_quat_p, const Eigen::QuaternionBase< Derived4 > &e_quat_b)
	Calculate the linearized attitude quaternion differential equation partially derived for the angular rate scale factor.
template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5, typename Derived6>
Eigen::Matrix4< typename Derived6::Scalar >	e_F_dq_dq (const Eigen::MatrixBase< Derived1 > &p_gyroBias, const Eigen::MatrixBase< Derived2 > &p_gyroScale, const Eigen::QuaternionBase< Derived3 > &p_quatGyro_ps, const Eigen::MatrixBase< Derived4 > &ps_omega_ip, const Eigen::QuaternionBase< Derived5 > &b_quat_p, const Eigen::QuaternionBase< Derived6 > &e_quat_b, double omega_ie)
	Calculate the linearized attitude quaternion differential equation partially derived for the attitude quaternion.
template<typename T>
Eigen::Matrix3< T >	e_F_dr_dv ()
	Calculates the matrix 𝐅_𝛿r'_𝛿v.
template<typename Derived1, typename Derived2>
Eigen::Matrix< typename Derived2::Scalar, 3, 3 >	e_F_dv_dAccelBias (const Eigen::QuaternionBase< Derived1 > &b_quat_p, const Eigen::QuaternionBase< Derived2 > &e_quat_b)
	Calculates the matrix 𝐅_𝜓'_𝛿f_p.
template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5>
Eigen::Matrix< typename Derived5::Scalar, 3, 4 >	e_F_dv_dAccelMisalignment (const Eigen::MatrixBase< Derived1 > &p_accelScale, const Eigen::QuaternionBase< Derived2 > &p_quatAccel_ps, const Eigen::MatrixBase< Derived3 > &ps_f_ip, const Eigen::QuaternionBase< Derived4 > &b_quat_p, const Eigen::QuaternionBase< Derived5 > &e_quat_b)
	Calculate the linearized velocity differential equation partially derived for the accelerometer misalignment.
template<typename Derived1, typename Derived2, typename Derived3, typename Derived4>
Eigen::Matrix< typename Derived4::Scalar, 3, 3 >	e_F_dv_dAccelScale (const Eigen::QuaternionBase< Derived1 > &p_quatAccel_ps, const Eigen::MatrixBase< Derived2 > &ps_f_ip, const Eigen::QuaternionBase< Derived3 > &b_quat_p, const Eigen::QuaternionBase< Derived4 > &e_quat_b)
	Calculate the linearized velocity differential equation partially derived for the acceleration bias.
template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 3, 3 >	e_F_dv_df_b (const Eigen::MatrixBase< Derived > &e_Dcm_b)
	Calculates the matrix 𝐅_𝜓'_𝛿f_b.
template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 3, 3 >	e_F_dv_dpsi (const Eigen::MatrixBase< Derived > &e_force_ib)
	Calculates the matrix 𝐅_𝛿v'_𝜓
template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5, typename Derived6>
Eigen::Matrix< typename Derived6::Scalar, 3, 4 >	e_F_dv_dq (const Eigen::MatrixBase< Derived1 > &p_accelBias, const Eigen::MatrixBase< Derived2 > &p_accelScale, const Eigen::QuaternionBase< Derived3 > &p_quatAccel_ps, const Eigen::MatrixBase< Derived4 > &ps_f_ip, const Eigen::QuaternionBase< Derived5 > &b_quat_p, const Eigen::QuaternionBase< Derived6 > &e_quat_b)
	Calculate the linearized velocity differential equation partially derived for the attitude.
template<typename Derived1, typename Derived2, typename T>
Eigen::Matrix< typename Derived1::Scalar, 3, 3 >	e_F_dv_dr (const Eigen::MatrixBase< Derived1 > &e_position, const Eigen::MatrixBase< Derived2 > &e_gravitation, const T &r_eS_e, const Eigen::Vector3d &e_omega_ie)
	Calculates the matrix 𝐅_𝛿v'_𝛿r.
template<typename T>
Eigen::Matrix3< T >	e_F_dv_dv (double omega_ie)
	Calculates the matrix 𝐅_𝛿v'_𝛿v.
template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 3, 3 >	e_F_dw_dw (const Eigen::MatrixBase< Derived > &beta_omega)
	Calculates the matrix 𝐅_𝛿ω'_𝛿ω
template<typename KeyType, typename T>
KeyedMatrixX< T, KeyType, KeyType >	e_noiseInput_G (const Eigen::Quaterniond &b_quat_p, const Eigen::Quaternion< T > &e_quat_b, bool accelBiases, bool gyroBiases, bool accelScaleFactor, bool gyroScaleFactor, bool accelMisalignment, bool gyroMisalignment)
	Calculate the noise input matrix in Earth frame coordinates.
template<typename KeyType, typename T>
KeyedMatrixX< T, KeyType, KeyType >	e_noiseScale_W (const Eigen::Vector3d &sigma2_ra, const Eigen::Vector3d &sigma2_rg, const Eigen::Vector3d &sigma2_bad, const Eigen::Vector3d &sigma2_bgd, const Eigen::Vector3d &sigma2_sad, const Eigen::Vector3d &sigma2_sgd, bool accelBiases, bool gyroBiases, bool accelScaleFactor, bool gyroScaleFactor)
	Calculate the noise scale matrix in Earth frame coordinates.
template<typename KeyType, typename T>
KeyedMatrixX< T, KeyType, KeyType >	e_systemMatrix_F (const Eigen::Vector3d &ps_f_ip, const Eigen::Vector3d &ps_omega_ip, const Eigen::Quaterniond &b_quat_p, const Eigen::Vector3< T > &e_gravitation, const T &r_eS_e, std::optional< double > tau_bad, std::optional< double > tau_bgd, const Eigen::Vector3< T > &e_position, const Eigen::Quaternion< T > &e_quat_b, const Eigen::Vector3< T > &p_accelBias, const Eigen::Vector3< T > &p_gyroBias, const Eigen::Vector3< T > &p_accelScale, const Eigen::Vector3< T > &p_gyroScale, const Eigen::Quaternion< T > &p_quatAccel_ps, const Eigen::Quaternion< T > &p_quatGyro_ps, const PosVelAttDerivativeConstants &config, bool accelBiases, bool gyroBiases, bool accelScaleFactor, bool gyroScaleFactor, bool accelMisalignment, bool gyroMisalignment)
	Calculate the linearized system matrix in Earth frame coordinates.
double	egm96_compute_altitude_offset (double lat, double lon)
	Compute the geoid undulation from the EGM96 potential coefficient model to The WGS84 ellipsoid.
void	from_json (const json &j, AtmosphereModels &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, Code &data)
	Converts the provided json object into a link object.
void	from_json (const json &j, Colormap &cmap)
	Converts the provided json object into a struct.
void	from_json (const json &j, Combiner::Combination &data)
	Read info from a json object.
void	from_json (const json &j, Combiner::Combination::Term &data)
	Read info from a json object.
void	from_json (const json &j, CycleSlipDetector &data)
	Read info from a json object.
static void	from_json (const json &j, Demo::DemoData &data)
	Read info from a json object.
void	from_json (const json &j, Frequency &data)
	Converts the provided json object into a link object.
void	from_json (const json &j, GnssAnalyzer::Combination &data)
	Read info from a json object.
void	from_json (const json &j, GnssAnalyzer::Combination::Term &data)
	Read info from a json object.
void	from_json (const json &j, GnssMeasurementErrorModel &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersCosineType &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersExponential &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersRtklib &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSine &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSineCN0 &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSineOffset &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, GnssMeasurementErrorModel::ModelParametersSineSqrt &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, ImuPos &pos)
	Read info from a json object.
void	from_json (const json &j, InertialIntegrator &data)
	Read info from a json object.
void	from_json (const json &j, InputPin &pin)
	Converts the provided json object into a pin object.
void	from_json (const json &j, InsTime &insTime)
	Converts the provided json object into an InsTime.
void	from_json (const json &j, LowPassFilter::FilterItem &data)
	Converts the provided json object into a link object.
void	from_json (const json &j, Node &node)
	Converts the provided json object into a node object.
void	from_json (const json &j, OutputPin &pin)
	Converts the provided json object into a pin object.
static void	from_json (const json &j, PinData &data)
	Read info from a json object.
static void	from_json (const json &j, PinDataBsplineKF &data)
	Read info from a json object.
static void	from_json (const json &j, PinDataIRWKF &data)
	Read info from a json object.
static void	from_json (const json &j, Plot::PinData &data)
	Read info from a json object.
static void	from_json (const json &j, Plot::PinData::PlotData &data)
	Read info from a json object.
static void	from_json (const json &j, Plot::PlotInfo &data)
	Read info from a json object.
static void	from_json (const json &j, Plot::PlotInfo::PlotItem &data)
	Read info from a json object.
void	from_json (const json &j, PlotItemStyle &style)
	Read info from a json object.
template<typename Key>
void	from_json (const json &j, PolynomialCycleSlipDetector< Key > &data)
	Read info from a json object.
template<typename Scalar = double>
void	from_json (const json &j, PolynomialRegressor< Scalar > &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, PosVelAttDerivativeConstants &data)
	Read info from a json object.
void	from_json (const json &j, RandomNumberGenerator &rng)
	Read info from a json object.
void	from_json (const json &j, SatelliteSystem &data)
	Converts the provided json object into a link object.
void	from_json (const json &j, SatId &data)
	Converts the provided json object into a link object.
void	from_json (const json &j, SatSigId &data)
	Converts the provided json object into a link object.
void	from_json (const json &j, SNRMask &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, TemperatureModel &obj)
	Converts the provided json object into a node object.
void	from_json (const json &j, TimeSystem &timeSystem)
	Converts the provided json object into a TimeSystem.
void	from_json (const json &j, TroposphereModelSelection &obj)
	Converts the provided json object into a node object.
Eigen::Matrix3d	G_GaussMarkov1 (const Eigen::Vector3d &sigma2, const Eigen::Vector3d &beta)
	Submatrix 𝐆_a of the noise input matrix 𝐆
Eigen::Matrix3d	G_RandomWalk (const Eigen::Vector3d &sigma2)
	Random walk noise input matrix 𝐆
double	galSisaIdx2Val (uint8_t idx)
	Converts a GALILEO SISA (Signal in space accuracy) index to it's value.
uint8_t	galSisaVal2Idx (double val)
	Converts a GALILEO SISA (Signal in space accuracy) value to it's index.
template<size_t N, typename Scalar>
constexpr std::array< Scalar, N >	genRangeArray (Scalar start, Scalar stepSize, Scalar end)
	Returns a container filled with the given range.
template<typename Scalar>
std::vector< Scalar >	genRangeVector (Scalar start, Scalar stepSize, Scalar end)
	Returns a container filled with the given range.
double	gpsUraIdx2Val (uint8_t idx)
	Converts a GPS URA (user range accuracy) index to it's value.
uint8_t	gpsUraVal2Idx (double val)
	Converts a GPS URA (user range accuracy) value to it's index.
GPT2output	GPT2_param (const double &mjd, const Eigen::Vector3d &lla_pos)
	Determine pressure, temperature, temperature lapse rate, mean temperature of the water vapor, water vapor pressure, hydrostatic and wet mapping function coefficients ah and aw, water vapour decrease factor and geoid undulation for specific sites near the Earth surface, based on a 1 x 1 degree GPT2 grid.
GPT3output	GPT3_param (const double &mjd, const Eigen::Vector3d &lla_pos)
	Determine pressure, temperature, temperature lapse rate, mean temperature of the water vapor, water vapour pressure, hydrostatic and wet mapping function coefficients ah and aw, water vapour decrease factor, geoid undulation and empirical tropospheric gradients for specific sites near the earth's surface, based on a 1 x 1 degree GPT3 grid.
template<typename Y, typename Z, std::floating_point Scalar>
Y	Heun2 (const Y &y_n, const std::array< Z, 2 > &z, const Scalar &h, const auto &f, const auto &constParam, const Scalar &t_n=0)
	Heun's method (2nd order) (explicit) .
template<typename Y, typename Z, std::floating_point Scalar>
Y	Heun3 (const Y &y_n, const std::array< Z, 3 > &z, const Scalar &h, const auto &f, const auto &constParam, const Scalar &t_n=0)
	Heun's method (3nd order) (explicit) .
double	hundu (double p[_coeffs+1], double sinml[_361+1], double cosml[_361+1], double gr, double re)
Eigen::Matrix3d	ie_Q_dr_df (const Eigen::Vector3d &S_bad, const Eigen::Matrix3d &ie_Dcm_b, const double &tau_s)
	Submatrix 𝐐_34 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_35 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_33 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_32 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_31 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_25 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_22 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_21 of the system noise covariance matrix 𝐐
bool	InertialIntegratorGui (const char *label, InertialIntegrator &integrator, bool &preferAccelerationOverDeltaMeasurements, float width=250.0F)
	Shows a GUI for advanced configuration of the InertialIntegrator.
double	ionoErrorVar (double dpsr_I, Frequency freq, int8_t num)
	Calculates the ionospheric error variance.
template<typename T>
std::string	joinToString (const T &container, const char *delimiter=", ", const std::string &elementFormat="")
	Joins the container to a string.
template<typename T, typename U>
std::string	joinToStringCustom (const T &container, U &&formatFunc, const char *delimiter=", ")
	Joins the container to a string.
void	legfdn (unsigned m, double theta, double rleg[_361+1])
bool	lessCompareSatSigId (const std::string &lhs, const std::string &rhs)
	Less than comparison from string representation.
template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	lla_calcTimeDerivativeForPosition (const Eigen::MatrixBase< Derived > &n_velocity, const auto &phi, const auto &h, const auto &R_N, const auto &R_E)
	Calculates the time derivative of the curvilinear position.
void	loadImPlotStyleFromConfigFile (const char *path, ImPlotStyle &imPlotStyle)
	Loads the ImPlotStyle from a json file.
template<typename T>
std::string	MakeComboItems ()
	Units separated by '\0' and terminated by double '\0'.
double	mjd2doy (const double &mjd)
	To calculate the day of year.
template<typename T>
void	move (std::vector< T > &v, size_t sourceIdx, size_t targetIdx)
	Moves an element within a vector to a new position.
template<typename DerivedA, typename DerivedB, typename DerivedC>
Eigen::Vector3< typename DerivedA::Scalar >	n_calcCoriolisAcceleration (const Eigen::MatrixBase< DerivedA > &n_omega_ie, const Eigen::MatrixBase< DerivedB > &n_omega_en, const Eigen::MatrixBase< DerivedC > &n_velocity)
	Calculates the coriolis acceleration in [m/s^2] (acceleration due to motion in rotating reference frame)
template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	n_calcGravitation (const Eigen::MatrixBase< Derived > &lla_position, GravitationModel gravitationModel=GravitationModel::EGM96)
	Calculates the gravitation (acceleration due to mass attraction of the Earth)
template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	n_calcGravitation_EGM96 (const Eigen::MatrixBase< Derived > &lla_position, size_t ndegree=10)
	Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using the EGM96 spherical harmonic model (up to order 10)
template<typename T>
Eigen::Vector3< T >	n_calcGravitation_SomiglianaAltitude (const T &latitude, const T &altitude)
	Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using the Somigliana model and makes corrections for altitude.
template<typename T>
Eigen::Vector3< T >	n_calcGravitation_WGS84 (const T &latitude, const T &altitude)
	Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using gravity as derived from the gravity potential.
template<typename T>
Eigen::Vector3< T >	n_calcGravitation_WGS84_Skydel (const T &latitude, const T &altitude)
	Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using gravity as derived from the gravity potential. However, the north component of the centrifugal acceleration is neglected in order to match the implementation of Skydel's 'ImuPlugin'.
template<typename T>
Eigen::Vector< T, 10 >	n_calcPosVelAttDerivative (const Eigen::Vector< T, 10 > &y, const Eigen::Vector< T, 6 > &z, const PosVelAttDerivativeConstants &c, double=0.0)
	Calculates the derivative of the quaternion, velocity and curvilinear position.
template<typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>
Eigen::Vector3< typename DerivedA::Scalar >	n_calcTimeDerivativeForVelocity (const Eigen::MatrixBase< DerivedA > &n_measuredForce, const Eigen::MatrixBase< DerivedB > &n_coriolisAcceleration, const Eigen::MatrixBase< DerivedC > &n_gravitation, const Eigen::MatrixBase< DerivedD > &n_centrifugalAcceleration)
	Calculates the time derivative of the velocity in local-navigation frame coordinates.
template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedA::Scalar >	n_calcTransportRate (const Eigen::MatrixBase< DerivedA > &lla_position, const Eigen::MatrixBase< DerivedB > &n_velocity, const auto &R_N, const auto &R_E)
	Calculates the transport rate ω_en_n (rotation rate of the Earth frame relative to the navigation frame)
Eigen::Matrix3d	n_F_df_df (const Eigen::Vector3d &beta_a)
	Calculates the matrix 𝐅_𝛿f'_𝛿f.
Eigen::Matrix3d	n_F_dpsi_dpsi (const Eigen::Vector3d &n_omega_in)
	Calculates the matrix 𝐅_𝜓'_𝜓
Eigen::Matrix3d	n_F_dpsi_dr (double latitude, double height, const Eigen::Vector3d &n_velocity, double R_N, double R_E)
	Calculates the matrix 𝐅_𝜓'_𝛿r.
Eigen::Matrix3d	n_F_dpsi_dv (double latitude, double height, double R_N, double R_E)
	Calculates the matrix 𝐅_𝜓'_𝛿v.
Eigen::Matrix3d	n_F_dpsi_dw (const Eigen::Matrix3d &n_Dcm_b)
	Calculates the matrix 𝐅_𝜓'_𝛿ω
Eigen::Matrix3d	n_F_dr_dr (const Eigen::Vector3d &n_velocity, double latitude, double height, double R_N, double R_E)
	Calculates the matrix 𝐅_𝛿r'_𝛿r.
Eigen::Matrix3d	n_F_dr_dv (double latitude, double height, double R_N, double R_E)
	Calculates the matrix 𝐅_𝛿r'_𝛿v.
Eigen::Matrix3d	n_F_dv_df (const Eigen::Matrix3d &n_Dcm_b)
	Calculates the matrix 𝐅_𝜓'_𝛿f.
Eigen::Matrix3d	n_F_dv_dpsi (const Eigen::Vector3d &n_force_ib)
	Calculates the matrix 𝐅_𝛿v'_𝜓
Eigen::Matrix3d	n_F_dv_dr (const Eigen::Vector3d &n_velocity, double latitude, double height, double R_N, double R_E, double g_0, double r_eS_e)
	Calculates the matrix 𝐅_𝛿v'_𝛿r.
Eigen::Matrix3d	n_F_dv_dv (const Eigen::Vector3d &n_velocity, double latitude, double height, double R_N, double R_E)
	Calculates the matrix 𝐅_𝛿v'_𝛿v.
Eigen::Matrix3d	n_F_dw_dw (const Eigen::Vector3d &beta_omega)
	Calculates the matrix 𝐅_𝛿ω'_𝛿ω
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)
	Submatrix 𝐐_34 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_35 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_33 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_32 of the system noise covariance matrix 𝐐
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)
	Submatrix 𝐐_31 of the system noise covariance matrix 𝐐
bool	operator!= (const Code &lhs, const Code &rhs)
bool	operator!= (const Code &lhs, const Code::Enum &rhs)
bool	operator!= (const Code::Enum &lhs, const Code &rhs)
constexpr bool	operator!= (const Frequency &lhs, const Frequency &rhs)
	Inequal compares values.
constexpr bool	operator!= (const Frequency &lhs, const Frequency_ &rhs)
	Inequal compares values.
constexpr bool	operator!= (const Frequency_ &lhs, const Frequency &rhs)
	Inequal compares values.
constexpr bool	operator!= (const Node::Kind &lhs, const Node::Kind &rhs)
	Inequal compares Node::Kind values.
constexpr bool	operator!= (const Node::Kind &lhs, const Node::Kind::Value &rhs)
	Inequal compares Node::Kind values.
constexpr bool	operator!= (const Node::Kind::Value &lhs, const Node::Kind &rhs)
	Inequal compares Node::Kind values.
constexpr bool	operator!= (const Pin::Kind &lhs, const Pin::Kind &rhs)
	Inequal compares Pin::Kind values.
constexpr bool	operator!= (const Pin::Kind &lhs, const Pin::Kind::Value &rhs)
	Inequal compares Pin::Kind values.
constexpr bool	operator!= (const Pin::Kind::Value &lhs, const Pin::Kind &rhs)
	Inequal compares Pin::Kind values.
constexpr bool	operator!= (const Pin::Type &lhs, const Pin::Type &rhs)
	Inequal compares Pin::Type values.
constexpr bool	operator!= (const Pin::Type &lhs, const Pin::Type::Value &rhs)
	Inequal compares Pin::Type values.
constexpr bool	operator!= (const Pin::Type::Value &lhs, const Pin::Type &rhs)
	Inequal compares Pin::Type values.
constexpr bool	operator!= (const SatelliteSystem &lhs, const SatelliteSystem &rhs)
	Inequal compares values.
constexpr bool	operator!= (const SatelliteSystem &lhs, const SatelliteSystem_ &rhs)
	Inequal compares values.
constexpr bool	operator!= (const SatelliteSystem_ &lhs, const SatelliteSystem &rhs)
	Inequal compares values.
constexpr bool	operator!= (const TimeSystem &lhs, const TimeSystem &rhs)
	Inequal compares values.
constexpr bool	operator!= (const TimeSystem &lhs, const TimeSystem_ &rhs)
	Inequal compares values.
constexpr bool	operator!= (const TimeSystem_ &lhs, const TimeSystem &rhs)
	Inequal compares values.
constexpr long double	operator""_deg (long double deg)
	Converts [degree] to [radian].
constexpr long double	operator""_mas (long double mas)
	Converts [milliarcseconds] to [radian].
constexpr long double	operator""_mas (unsigned long long mas)
	Converts [milliarcseconds] to [radian].
constexpr long double	operator""_ppb (long double ppb)
	Parts per billion.
constexpr long double	operator""_ppb (unsigned long long ppb)
	Parts per billion.
Code	operator& (Code lhs, Frequency rhs)
Code	operator& (Code lhs, Frequency_ rhs)
Code	operator& (Code lhs, SatelliteSystem rhs)
Code	operator& (Code lhs, SatelliteSystem_ rhs)
Code	operator& (const Code &lhs, const Code &rhs)
Code	operator& (const Code &lhs, const Code::Enum &rhs)
Code	operator& (const Code::Enum &lhs, const Code &rhs)
Code	operator& (const Code::Enum &lhs, const Code::Enum &rhs)
	Allows combining flags of the Code enum.
Code	operator& (Frequency lhs, Code rhs)
constexpr Frequency_	operator& (Frequency lhs, Frequency rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_	operator& (Frequency lhs, Frequency_ rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_	operator& (Frequency lhs, SatelliteSystem rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr Frequency_	operator& (Frequency lhs, SatelliteSystem_ rhs)
	Allows filtering Frequency with SatelliteSystem.
Code	operator& (Frequency_ lhs, Code rhs)
constexpr Frequency_	operator& (Frequency_ lhs, Frequency rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_	operator& (Frequency_ lhs, Frequency_ rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_	operator& (Frequency_ lhs, SatelliteSystem rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr Frequency_	operator& (Frequency_ lhs, SatelliteSystem_ rhs)
	Allows filtering Frequency with SatelliteSystem.
Orbit::Calc	operator& (Orbit::Calc lhs, Orbit::Calc rhs)
	Allows construction of Calc objects.
Code	operator& (SatelliteSystem lhs, Code rhs)
constexpr Frequency_	operator& (SatelliteSystem lhs, Frequency rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr Frequency_	operator& (SatelliteSystem lhs, Frequency_ rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr SatelliteSystem	operator& (SatelliteSystem lhs, SatelliteSystem rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_	operator& (SatelliteSystem lhs, SatelliteSystem_ rhs)
	Allows combining flags of the SatelliteSystem enum.
Code	operator& (SatelliteSystem_ lhs, Code rhs)
constexpr Frequency_	operator& (SatelliteSystem_ lhs, Frequency rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr Frequency_	operator& (SatelliteSystem_ lhs, Frequency_ rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr SatelliteSystem_	operator& (SatelliteSystem_ lhs, SatelliteSystem rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_	operator& (SatelliteSystem_ lhs, SatelliteSystem_ rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr TimeSystem	operator& (TimeSystem lhs, TimeSystem rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem	operator& (TimeSystem lhs, TimeSystem_ rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem	operator& (TimeSystem_ lhs, TimeSystem rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem_	operator& (TimeSystem_ lhs, TimeSystem_ rhs)
	Allows combining flags of the TimeSystem enum.
constexpr Frequency &	operator&= (Frequency &lhs, const Frequency &rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency &	operator&= (Frequency &lhs, const Frequency_ &rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency &	operator&= (Frequency &lhs, const SatelliteSystem &rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr Frequency &	operator&= (Frequency &lhs, const SatelliteSystem_ &rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr Frequency_ &	operator&= (Frequency_ &lhs, const Frequency &rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_ &	operator&= (Frequency_ &lhs, const Frequency_ &rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_ &	operator&= (Frequency_ &lhs, const SatelliteSystem &rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr Frequency_ &	operator&= (Frequency_ &lhs, const SatelliteSystem_ &rhs)
	Allows filtering Frequency with SatelliteSystem.
constexpr SatelliteSystem &	operator&= (SatelliteSystem &lhs, const SatelliteSystem &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem &	operator&= (SatelliteSystem &lhs, const SatelliteSystem_ &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_ &	operator&= (SatelliteSystem_ &lhs, const SatelliteSystem &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_ &	operator&= (SatelliteSystem_ &lhs, const SatelliteSystem_ &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr TimeSystem &	operator&= (TimeSystem &lhs, const TimeSystem &rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem &	operator&= (TimeSystem &lhs, const TimeSystem_ &rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem_ &	operator&= (TimeSystem_ &lhs, const TimeSystem &rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem_ &	operator&= (TimeSystem_ &lhs, const TimeSystem_ &rhs)
	Allows combining flags of the TimeSystem enum.
bool	operator< (const Code &lhs, const Code &rhs)
bool	operator< (const Code &lhs, const Code::Enum &rhs)
bool	operator< (const Code::Enum &lhs, const Code &rhs)
template<std::size_t N>
bool	operator< (const std::bitset< N > &lhs, const std::bitset< N > &rhs)
	Comparison operator for bitsets.
std::ostream &	operator<< (std::ostream &os, const InsTime &insTime)
	Stream insertion operator overload.
std::ostream &	operator<< (std::ostream &os, const InsTime_GPSweekTow &gpsWeekTow)
	Stream insertion operator overload.
std::ostream &	operator<< (std::ostream &os, const InsTime_JD &jd)
	Stream insertion operator overload.
std::ostream &	operator<< (std::ostream &os, const InsTime_MJD &mjd)
	Stream insertion operator overload.
std::ostream &	operator<< (std::ostream &os, const InsTime_YDoySod &yDoySod)
	Stream insertion operator overload.
std::ostream &	operator<< (std::ostream &os, const InsTime_YMDHMS &ymdhms)
	Stream insertion operator overload.
std::ostream &	operator<< (std::ostream &os, const SatelliteSystem &satSys)
	Stream insertion operator overload.
bool	operator== (const Code &lhs, const Code &rhs)
bool	operator== (const Code &lhs, const Code::Enum &rhs)
bool	operator== (const Code::Enum &lhs, const Code &rhs)
constexpr bool	operator== (const Frequency &lhs, const Frequency &rhs)
	Equal compares values.
constexpr bool	operator== (const Frequency &lhs, const Frequency_ &rhs)
	Equal compares values.
constexpr bool	operator== (const Frequency_ &lhs, const Frequency &rhs)
	Equal compares values.
constexpr bool	operator== (const Node::Kind &lhs, const Node::Kind &rhs)
	Equal compares Node::Kind values.
constexpr bool	operator== (const Node::Kind &lhs, const Node::Kind::Value &rhs)
	Equal compares Node::Kind values.
constexpr bool	operator== (const Node::Kind::Value &lhs, const Node::Kind &rhs)
	Equal compares Node::Kind values.
constexpr bool	operator== (const Pin::Kind &lhs, const Pin::Kind &rhs)
	Equal compares Pin::Kind values.
constexpr bool	operator== (const Pin::Kind &lhs, const Pin::Kind::Value &rhs)
	Equal compares Pin::Kind values.
constexpr bool	operator== (const Pin::Kind::Value &lhs, const Pin::Kind &rhs)
	Equal compares Pin::Kind values.
constexpr bool	operator== (const Pin::Type &lhs, const Pin::Type &rhs)
	Equal compares Pin::Type values.
constexpr bool	operator== (const Pin::Type &lhs, const Pin::Type::Value &rhs)
	Equal compares Pin::Type values.
constexpr bool	operator== (const Pin::Type::Value &lhs, const Pin::Type &rhs)
	Equal compares Pin::Type values.
constexpr bool	operator== (const SatelliteSystem &lhs, const SatelliteSystem &rhs)
	Equal compares values.
constexpr bool	operator== (const SatelliteSystem &lhs, const SatelliteSystem_ &rhs)
	Equal compares values.
constexpr bool	operator== (const SatelliteSystem_ &lhs, const SatelliteSystem &rhs)
	Equal compares values.
template<typename T>
bool	operator== (const std::vector< T > &lhs, std::span< const T > rhs)
	Comparison operator for span and vector.
constexpr bool	operator== (const TemperatureModel &lhs, const TemperatureModel &rhs)
	Equal compares Pin::Kind values.
constexpr bool	operator== (const TemperatureModel &lhs, const TemperatureModel::Model &rhs)
	Equal compares Pin::Kind values.
constexpr bool	operator== (const TemperatureModel::Model &lhs, const TemperatureModel &rhs)
	Equal compares Pin::Kind values.
constexpr bool	operator== (const TimeSystem &lhs, const TimeSystem &rhs)
	Equal compares values.
constexpr bool	operator== (const TimeSystem &lhs, const TimeSystem_ &rhs)
	Equal compares values.
constexpr bool	operator== (const TimeSystem_ &lhs, const TimeSystem &rhs)
	Equal compares values.
template<typename T>
bool	operator== (std::span< const T > lhs, const std::vector< T > &rhs)
	Comparison operator for span and vector.
Code	operator| (Code lhs, Frequency rhs)
Code	operator| (Code lhs, Frequency_ rhs)
Code	operator| (Code lhs, SatelliteSystem rhs)
Code	operator| (Code lhs, SatelliteSystem_ rhs)
Code	operator| (const Code &lhs, const Code &rhs)
Code	operator| (const Code &lhs, const Code::Enum &rhs)
Code	operator| (const Code::Enum &lhs, const Code &rhs)
Code	operator| (const Code::Enum &lhs, const Code::Enum &rhs)
	Allows combining flags of the Code enum.
Code	operator| (Frequency lhs, Code rhs)
constexpr Frequency_	operator| (Frequency lhs, Frequency rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_	operator| (Frequency lhs, Frequency_ rhs)
	Allows combining flags of the Frequency enum.
Code	operator| (Frequency_ lhs, Code rhs)
constexpr Frequency_	operator| (Frequency_ lhs, Frequency rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_	operator| (Frequency_ lhs, Frequency_ rhs)
	Allows combining flags of the Frequency enum.
Orbit::Calc	operator| (Orbit::Calc lhs, Orbit::Calc rhs)
	Allows construction of Calc objects.
Code	operator| (SatelliteSystem lhs, Code rhs)
constexpr SatelliteSystem_	operator| (SatelliteSystem lhs, SatelliteSystem rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_	operator| (SatelliteSystem lhs, SatelliteSystem_ rhs)
	Allows combining flags of the SatelliteSystem enum.
Code	operator| (SatelliteSystem_ lhs, Code rhs)
constexpr SatelliteSystem_	operator| (SatelliteSystem_ lhs, SatelliteSystem rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_	operator| (SatelliteSystem_ lhs, SatelliteSystem_ rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr TimeSystem	operator| (TimeSystem lhs, TimeSystem rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem	operator| (TimeSystem lhs, TimeSystem_ rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem	operator| (TimeSystem_ lhs, TimeSystem rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem_	operator| (TimeSystem_ lhs, TimeSystem_ rhs)
	Allows combining flags of the TimeSystem enum.
constexpr Frequency &	operator|= (Frequency &lhs, const Frequency &rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency &	operator|= (Frequency &lhs, const Frequency_ &rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_ &	operator|= (Frequency_ &lhs, const Frequency &rhs)
	Allows combining flags of the Frequency enum.
constexpr Frequency_ &	operator|= (Frequency_ &lhs, const Frequency_ &rhs)
	Allows combining flags of the Frequency enum.
constexpr SatelliteSystem &	operator|= (SatelliteSystem &lhs, const SatelliteSystem &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem &	operator|= (SatelliteSystem &lhs, const SatelliteSystem_ &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_ &	operator|= (SatelliteSystem_ &lhs, const SatelliteSystem &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr SatelliteSystem_ &	operator|= (SatelliteSystem_ &lhs, const SatelliteSystem_ &rhs)
	Allows combining flags of the SatelliteSystem enum.
constexpr TimeSystem &	operator|= (TimeSystem &lhs, const TimeSystem &rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem &	operator|= (TimeSystem &lhs, const TimeSystem_ &rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem_ &	operator|= (TimeSystem_ &lhs, const TimeSystem &rhs)
	Allows combining flags of the TimeSystem enum.
constexpr TimeSystem_ &	operator|= (TimeSystem_ &lhs, const TimeSystem_ &rhs)
	Allows combining flags of the TimeSystem enum.
constexpr Frequency_	operator~ (Frequency rhs)
	Allows negating flags of the Frequency enum.
constexpr Frequency_	operator~ (Frequency_ rhs)
	Allows negating flags of the Frequency enum.
constexpr SatelliteSystem_	operator~ (SatelliteSystem rhs)
	Allows negating flags of the SatelliteSystem enum.
constexpr SatelliteSystem_	operator~ (SatelliteSystem_ rhs)
	Allows negating flags of the SatelliteSystem enum.
constexpr TimeSystem	operator~ (TimeSystem rhs)
	Allows negating flags of the TimeSystem enum.
constexpr TimeSystem	operator~ (TimeSystem_ rhs)
	Allows negating flags of the TimeSystem enum.
template<typename Key>
bool	PolynomialCycleSlipDetectorGui (const char *label, PolynomialCycleSlipDetector< Key > &polynomialCycleSlipDetector, float width=0.0F)
	Shows a GUI for advanced configuration of the PolynomialCycleSlipDetector.
Eigen::Vector3d	psd2BiasGaussMarkov (const Eigen::Vector3d &sigma2_bd, const Eigen::Vector3d &tau_bd)
	u_bias^2 Power Spectral Density of the bias for a Gauss-Markov random process
Eigen::Matrix3d	Q_df_df (const Eigen::Vector3d &S_bad, const double &tau_s)
	Submatrix 𝐐_44 of the system noise covariance matrix 𝐐
Eigen::Matrix3d	Q_df_dv (const Eigen::Vector3d &S_bad, const Eigen::Matrix3d &b_Dcm_ien, const double &tau_s)
	Submatrix 𝐐_42 of the system noise covariance matrix 𝐐
Eigen::Matrix3d	Q_domega_domega (const Eigen::Vector3d &S_bgd, const double &tau_s)
	Submatrix 𝐐_55 of the system noise covariance matrix 𝐐
Eigen::Matrix3d	Q_domega_psi (const Eigen::Vector3d &S_bgd, const Eigen::Matrix3d &b_Dcm_ien, const double &tau_s)
	Submatrix 𝐐_51 of the system noise covariance matrix 𝐐
Eigen::Matrix2d	Q_gnss (const double &S_cPhi, const double &S_cf, const double &tau_s)
	Submatrix 𝐐_66 of the system noise covariance matrix 𝐐
Eigen::Matrix3d	Q_psi_psi (const Eigen::Vector3d &S_rg, const Eigen::Vector3d &S_bgd, const double &tau_s)
	Submatrix 𝐐_11 of the system noise covariance matrix 𝐐
template<typename Scalar>
Eigen::Vector3< Scalar >	rad2deg (const Eigen::Vector3< Scalar > &rad)
	Convert Radians to Degree.
template<class T>
constexpr auto	rad2deg (const T &rad)
	Convert Radians to Degree.
template<class T>
constexpr auto	rad2semicircles (const T &rad)
	Convert Radians to Semicircles.
double	rangeRate2doppler (double rangeRate, Frequency freq, int8_t num)
	Transforms a range-rate into a doppler-shift.
double	ratioFreqSquared (Frequency f1, Frequency f2, int8_t num1, int8_t num2)
	Calculates the ration of the frequencies squared γ
template<typename Derived>
void	removeCols (Eigen::DenseBase< Derived > &matrix, const std::vector< int > &colIndices)
	Removes cols from a matrix or vector.
template<typename Derived>
void	removeCols (Eigen::DenseBase< Derived > &matrix, size_t index, size_t length)
	Removes columns from a matrix or vector.
template<typename Derived>
void	removeRows (Eigen::DenseBase< Derived > &matrix, const std::vector< int > &rowIndices)
	Removes rows from a matrix or vector.
template<typename Derived>
void	removeRows (Eigen::DenseBase< Derived > &matrix, size_t index, size_t length)
	Removes rows from a matrix or vector.
template<typename Derived>
void	removeRowsAndCols (Eigen::DenseBase< Derived > &matrix, const std::vector< int > &rowIndices, const std::vector< int > &colIndices)
	Removes rows and columns from a matrix or vector.
template<typename Derived>
void	removeRowsAndCols (Eigen::DenseBase< Derived > &matrix, size_t row, size_t rows, size_t col, size_t cols)
	Removes rows and columns from a matrix or vector.
template<typename Y, typename Z, std::floating_point Scalar>
Y	RungeKutta1 (const Y &y_n, const std::array< Z, 1 > &z, const Scalar &h, const auto &f, const auto &constParam, const Scalar &t_n=0)
	Runge-Kutta 1st order (explicit) / (Forward) Euler method .
template<typename Y, typename Z, std::floating_point Scalar>
Y	RungeKutta2 (const Y &y_n, const std::array< Z, 2 > &z, const Scalar &h, const auto &f, const auto &constParam, const Scalar &t_n=0)
	Runge-Kutta 2nd order (explicit) / Explicit midpoint method .
template<typename Y, typename Z, std::floating_point Scalar>
Y	RungeKutta3 (const Y &y_n, const std::array< Z, 3 > &z, const Scalar &h, const auto &f, const auto &constParam, const Scalar &t_n=0)
	Runge-Kutta 3rd order (explicit) / Simpson's rule .
template<typename Y, typename Z, std::floating_point Scalar>
Y	RungeKutta4 (const Y &y_n, const std::array< Z, 4 > &z, const Scalar &h, const auto &f, const auto &constParam, const Scalar &t_n=0)
	Runge-Kutta 4th order (explicit) .
template<class T>
constexpr auto	semicircles2rad (const T &semicircles)
	Convert Semicircles to Radians.
bool	ShowCodeSelector (const char *label, Code &code, const Frequency &filterFreq, bool singleSelect=false)
	Shows a ComboBox to select signal codes.
bool	ShowColormapSelector (ColormapMaskType &type, int64_t &id, const char *label="")
	Shows a combobox to select a colormap.
bool	ShowFrequencySelector (const char *label, Frequency &frequency, bool singleSelect=false)
	Shows a ComboBox to select GNSS frequencies.
bool	ShowPlotTooltip (std::vector< PlotTooltip > &tooltips, size_t plotItemIdx, const std::string &plotName, ImAxis axis, const ScrollingBuffer< double > &xData, const ScrollingBuffer< double > &yData, bool otherHoverTooltipsShown, const std::function< void(size_t)> &showTooltipCallback)
	Shows a tooltip if the plot is hovered.
void	ShowPlotTooltipWindows (std::vector< PlotTooltip > &tooltips, size_t plotItemIdx, const std::string &plotName, const std::string &uid, const std::vector< int * > &parentWindows, const std::function< InsTime(size_t)> &getInsTime, const std::function< void(size_t, const char *)> &showTooltipCallback)
	Shows all tooltip windows in the vector.
bool	ShowSatelliteSelector (const char *label, SatId &satellite, SatelliteSystem filterSys=SatSys_All, bool displayOnlyNumber=false)
	Shows a ComboBox to select a single satellite.
bool	ShowSatelliteSelector (const char *label, std::vector< SatId > &satellites, SatelliteSystem filterSys=SatSys_All, bool displayOnlyNumber=false)
	Shows a ComboBox to select satellites.
template<typename DerivedA, typename DerivedB>
Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime >	solveLinearLeastSquares (const Eigen::MatrixBase< DerivedA > &H, const Eigen::MatrixBase< DerivedB > &dz)
	Finds the "least squares" solution for the equation .
template<typename Scalar, typename StateKeyType, typename MeasKeyType>
KeyedVectorX< Scalar, StateKeyType >	solveLinearLeastSquares (const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &H, const KeyedVectorX< Scalar, MeasKeyType > &dz)
	Finds the "least squares" solution for the equation .
template<typename DerivedA, typename DerivedB>
LeastSquaresResult< Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime >, Eigen::Matrix< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime, DerivedA::ColsAtCompileTime > >	solveLinearLeastSquaresUncertainties (const Eigen::MatrixBase< DerivedA > &H, const Eigen::MatrixBase< DerivedB > &dz)
	Finds the "least squares" solution for the equation .
template<typename Scalar, typename StateKeyType, typename MeasKeyType>
KeyedLeastSquaresResult< Scalar, StateKeyType >	solveLinearLeastSquaresUncertainties (const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &H, const KeyedVectorX< Scalar, MeasKeyType > &dz)
	Finds the "least squares" solution for the equation .
template<typename DerivedA, typename DerivedW, typename DerivedB>
Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime >	solveWeightedLinearLeastSquares (const Eigen::MatrixBase< DerivedA > &H, const Eigen::MatrixBase< DerivedW > &W, const Eigen::MatrixBase< DerivedB > &dz)
	Finds the "weighted least squares" solution.
template<typename Scalar, typename StateKeyType, typename MeasKeyType>
KeyedVectorX< Scalar, StateKeyType >	solveWeightedLinearLeastSquares (const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &H, const KeyedMatrixX< Scalar, MeasKeyType, MeasKeyType > &W, const KeyedVectorX< Scalar, MeasKeyType > &dz)
	Finds the "weighted least squares" solution (see LeastSquares.hpp)
template<typename DerivedA, typename DerivedW, typename DerivedB>
LeastSquaresResult< Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime >, Eigen::Matrix< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime, DerivedA::ColsAtCompileTime > >	solveWeightedLinearLeastSquaresUncertainties (const Eigen::MatrixBase< DerivedA > &H, const Eigen::MatrixBase< DerivedW > &W, const Eigen::MatrixBase< DerivedB > &dz)
	Finds the "weighted least squares" solution.
template<typename Scalar, typename StateKeyType, typename MeasKeyType>
KeyedLeastSquaresResult< Scalar, StateKeyType >	solveWeightedLinearLeastSquaresUncertainties (const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &H, const KeyedMatrixX< Scalar, MeasKeyType, MeasKeyType > &W, const KeyedVectorX< Scalar, MeasKeyType > &dz)
	Finds the "weighted least squares" solution.
template<typename Derived, typename Compare>
std::vector< size_t >	sort_permutation (const Eigen::MatrixBase< Derived > &vec, Compare compare)
	Gives the permutation to sort the vector.
template<typename T, typename Compare>
std::vector< size_t >	sort_permutation (const std::vector< T > &vec, Compare compare)
	Gives the permutation to sort the std::vector.
bool	SystemModelGui (SystemModelCalcAlgorithm &algorithm, float itemWidth, const char *id)
	Shows a GUI.
void	to_json (json &j, const AtmosphereModels &obj)
	Converts the provided object into json.
void	to_json (json &j, const Code &data)
	Converts the provided link into a json object.
void	to_json (json &j, const Colormap &cmap)
	Converts the provided object into a json object.
void	to_json (json &j, const Combiner::Combination &data)
	Write info to a json object.
void	to_json (json &j, const Combiner::Combination::Term &data)
	Write info to a json object.
void	to_json (json &j, const CycleSlipDetector &data)
	Write info to a json object.
static void	to_json (json &j, const Demo::DemoData &data)
	Write info to a json object.
void	to_json (json &j, const Frequency &data)
	Converts the provided link into a json object.
void	to_json (json &j, const GnssAnalyzer::Combination &data)
	Write info to a json object.
void	to_json (json &j, const GnssAnalyzer::Combination::Term &data)
	Write info to a json object.
void	to_json (json &j, const GnssMeasurementErrorModel &obj)
	Converts the provided object into json.
void	to_json (json &j, const GnssMeasurementErrorModel::ModelParametersCosineType &obj)
	Converts the provided object into json.
void	to_json (json &j, const GnssMeasurementErrorModel::ModelParametersExponential &obj)
	Converts the provided object into json.
void	to_json (json &j, const GnssMeasurementErrorModel::ModelParametersRtklib &obj)
	Converts the provided object into json.
void	to_json (json &j, const GnssMeasurementErrorModel::ModelParametersSine &obj)
	Converts the provided object into json.
void	to_json (json &j, const GnssMeasurementErrorModel::ModelParametersSineCN0 &obj)
	Converts the provided object into json.
void	to_json (json &j, const GnssMeasurementErrorModel::ModelParametersSineOffset &obj)
	Converts the provided object into json.
void	to_json (json &j, const GnssMeasurementErrorModel::ModelParametersSineSqrt &obj)
	Converts the provided object into json.
void	to_json (json &j, const ImuPos &pos)
	Write info to a json object.
void	to_json (json &j, const InertialIntegrator &data)
	Write info to a json object.
void	to_json (json &j, const InputPin &pin)
	Converts the provided pin into a json object.
void	to_json (json &j, const InsTime &insTime)
	Converts the provided InsTime into a json object.
void	to_json (json &j, const LowPassFilter::FilterItem &data)
	Converts the provided link into a json object.
void	to_json (json &j, const Node &node)
	Converts the provided node into a json object.
void	to_json (json &j, const OutputPin &pin)
	Converts the provided pin into a json object.
static void	to_json (json &j, const PinData &data)
	Write info to a json object.
static void	to_json (json &j, const PinDataBsplineKF &data)
	Write info to a json object.
static void	to_json (json &j, const PinDataIRWKF &data)
	Write info to a json object.
static void	to_json (json &j, const Plot::PinData &data)
	Write info to a json object.
static void	to_json (json &j, const Plot::PinData::PlotData &data)
	Write info to a json object.
static void	to_json (json &j, const Plot::PlotInfo &data)
	Write info to a json object.
static void	to_json (json &j, const Plot::PlotInfo::PlotItem &data)
	Write info to a json object.
void	to_json (json &j, const PlotItemStyle &style)
	Write info to a json object.
template<typename Key>
void	to_json (json &j, const PolynomialCycleSlipDetector< Key > &data)
	Write info to a json object.
template<typename Scalar = double>
void	to_json (json &j, const PolynomialRegressor< Scalar > &obj)
	Converts the provided object into json.
void	to_json (json &j, const PosVelAttDerivativeConstants &data)
	Write info to a json object.
void	to_json (json &j, const RandomNumberGenerator &rng)
	Write info to a json object.
void	to_json (json &j, const SatelliteSystem &data)
	Converts the provided link into a json object.
void	to_json (json &j, const SatId &data)
	Converts the provided link into a json object.
void	to_json (json &j, const SatSigId &data)
	Converts the provided link into a json object.
void	to_json (json &j, const SNRMask &obj)
	Converts the provided object into json.
static void	to_json (json &j, const std::vector< Plot::PinData::PlotData > &data)
	Write info to a json object.
void	to_json (json &j, const TemperatureModel &obj)
	Converts the provided object into json.
void	to_json (json &j, const TimeSystem &timeSystem)
	Converts the provided TimeSystem into a json object.
void	to_json (json &j, const TroposphereModelSelection &obj)
	Converts the provided object into json.
std::string	to_string (const CycleSlipDetector::Result &cycleSlip)
	Converts the detector result into a string.
const char *	to_string (const TemperatureModel &temperatureModel)
	Converts the enum to a string.
const char *	to_string (GnssMeasurementErrorModel::Model model)
	Converts the enum to a string.
constexpr const char *	to_string (GnssObs::ObservationType obsType)
	Converts the enum to a string.
const char *	to_string (GravitationModel gravitationModel)
	Converts the enum to a string.
const char *	to_string (gui::widgets::PositionWithFrame::ReferenceFrame refFrame)
	Converts the enum to a string.
const char *	to_string (gui::widgets::TimeEditFormat::Format timeEditFormat)
	Converts the enum to a string.
const char *	to_string (InertialIntegrator::IntegrationAlgorithm algorithm)
	Converts the enum to a string.
const char *	to_string (InertialIntegrator::IntegrationFrame frame)
	Converts the enum to a string.
const char *	to_string (IonosphereModel ionosphereModel)
	Converts the enum to a string.
const char *	to_string (MappingFunction mappingFunction)
	Converts the enum to a string.
constexpr const char *	to_string (NAV::BaroSimulator::GravityInput value)
	Converts the enum to a string.
constexpr const char *	to_string (NAV::ImuFusion::ImuFusionType value)
constexpr const char *	to_string (NAV::MultiImuFile::NmeaType value)
	Converts the enum to a string.
constexpr const char *	to_string (NAV::PressToHgt::GravityInput value)
	Converts the enum to a string.
const char *	to_string (NAV::VectorNavBinaryConverter::OutputType value)
	Converts the enum to a string.
const char *	to_string (PolynomialRegressor<>::Strategy strategy)
	Converts the enum to a string.
constexpr const char *	to_string (PosVelAttInitializer::AttitudeMode attitudeMode)
	Converts the enum to a string.
constexpr const char *	to_string (PosVelAttInitializer::VelocityOverride velOverride)
	Converts the enum to a string.
const char *	to_string (PressureModel pressureModel)
	Converts the enum to a string.
const char *	to_string (SPP::Algorithm::EstimatorType estimatorType)
	Converts the enum to a string.
const char *	to_string (SPP::Algorithm::ReceiverType receiver)
	Converts the enum to a string.
const char *	to_string (TemperatureModel::Model temperatureModel)
	Converts the enum to a string.
const char *	to_string (TimeSystem::TimeSystemEnum timeSystem)
	Converts the enum to a string.
const char *	to_string (TroposphereModel troposphereZhdModel)
	Converts the enum to a string.
std::string	to_string (Units::AttitudeUncertaintyUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::AttitudeUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::CovarianceAccelUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::CovarianceAngularVelocityUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::CovarianceClkFrequencyDriftUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::CovarianceClkPhaseDriftUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuAccelerometerFilterBiasUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuAccelerometerFilterNoiseUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuAccelerometerIRWUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuAccelerometerNoiseUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuAccelerometerUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuGyroscopeFilterBiasUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuGyroscopeFilterNoiseUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuGyroscopeIRWUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuGyroscopeNoiseUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::ImuGyroscopeUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::PositionUncertaintyUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::VelocityUncertaintyUnits unit)
	Converts the unit into a string.
std::string	to_string (Units::VelocityUnits unit)
	Converts the unit into a string.
const char *	to_string (vendor::RINEX::ObsHeader::MarkerTypes markerType)
	Converts the enum to a string.
const char *	to_string (WaterVaporModel waterVaporModel)
	Converts the enum to a string.
const char *	tooltip (vendor::RINEX::ObsHeader::MarkerTypes markerType)
	Converts the enum to a string tooltip.
template<typename Derived>
Derived::PlainObject	transitionMatrix_Phi_exp (const Eigen::MatrixBase< Derived > &F, typename Derived::Scalar tau_s)
	Calculates the state transition matrix 𝚽 using the exponential matrix.
template<typename Scalar, typename RowKeyType, typename ColKeyType, int Rows, int Cols>
KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols >	transitionMatrix_Phi_exp (const KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols > &F, Scalar tau_s)
	Calculates the state transition matrix 𝚽 using the exponential matrix.
template<typename Derived>
Derived::PlainObject	transitionMatrix_Phi_Taylor (const Eigen::MatrixBase< Derived > &F, double tau_s, size_t order)
	Calculates the state transition matrix 𝚽 limited to specified order in 𝐅𝜏ₛ
template<typename Scalar, typename RowKeyType, typename ColKeyType, int Rows, int Cols>
KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols >	transitionMatrix_Phi_Taylor (const KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols > &F, Scalar tau_s, size_t order)
	Calculates the state transition matrix 𝚽 limited to specified order in 𝐅𝜏ₛ
double	tropoErrorVar (double dpsr_T, double elevation)
	Calculates the tropospheric error variance.
double	vmf1h (const double &ah, const double &dmjd, const double &dlat, const double &ht, const double &zd)
	mapping functions with height correction
double	vmf1w (const double &aw, const double &zd)
	mapping functions with height correction

Variables
static const internal::all_t	all
	Used to request all rows or columns in KeyedMatrices.
const Code	Code_ALL
const Code	Code_B1D_B1P_B1X
	B1 (data, pilot, combined)
const Code	Code_B2I_B2Q_B2X
	B1I(OS), B1Q, combined.
const Code	Code_B5D_B5P_B5X
	B2a (data, pilot, combined)
const Code	Code_B6I_B6Q_B6X
	B3I, B3Q, combined.
const Code	Code_B7D_B7P_B7Z
	B2b (data, pilot, combined)
const Code	Code_B7I_B7Q_B7X
	B2I(OS), B2Q, combined.
const Code	Code_B8D_B8P_B8X
	B2 (B2a+B2b) (data, pilot, combined)
const Code	Code_Default
	Default selection for codes.
const Code	Code_E1B_E1C_E1X
	OS (data, pilot, combined)
const Code	Code_E5I_E5Q_E5X
	E5a (data, pilot, combined)
const Code	Code_E6B_E6C_E6X
	E6 (data, pilot, combined)
const Code	Code_E7I_E7Q_E7X
	E5b (data, pilot, combined)
const Code	Code_E8I_E8Q_E8X
	E5 AltBOC (data, pilot, combined)
const Code	Code_G1S_G1L_G1X
	L1C (data, pilot, combined)
const Code	Code_G2S_G2L_G2X
	L2C-code (medium, long, combined)
const Code	Code_G5I_G5Q_G5X
	L5 (data, pilot, combined)
const Code	Code_I5B_I5C_I5X
	RS (data, pilot, combined)
const Code	Code_I9B_I9C_I9X
	RS (data, pilot, combined)
const Code	Code_J1S_J1L_J1X
	L1C (data, pilot, combined)
const Code	Code_J2S_J2L_J2X
	L2C-code (medium, long, combined)
const Code	Code_J5D_J5P_J5Z
	L5 (data, pilot, combined)
const Code	Code_J5I_J5Q_J5X
	L5 (data, pilot, combined)
const Code	Code_J6S_J6L_J6X
	LEX signal (short, long, combined)
const Code	Code_R3I_R3Q_R3X
	L3 (data, pilot, combined)
const Code	Code_R4A_R4B_R4X
	G1a (data, pilot, combined)
const Code	Code_R6A_R6B_R6X
	G2a (data, pilot, combined)
const Code	Code_S5I_S5Q_S5X
	L5 (data, pilot, combined)
std::vector< Colormap >	ColormapsFlow
	Flow colormaps.
std::vector< Colormap >	ColormapsGlobal
	Global colormaps.
constexpr Frequency_	Freq_All
	All Frequencies.
constexpr SatelliteSystem_	SatSys_All
	All Systems.
const std::vector< std::string >	supportedDataIdentifier
	List of supported data identifiers.

Detailed Description

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/.

Typedef Documentation

KeyedKalmanFilterD

template<typename StateKeyType, typename MeasKeyType>

using NAV::KeyedKalmanFilterD

Keyed Kalman Filter class with double as type.

Template Parameters

StateKeyType	Type of the key used for state lookup
MeasKeyType	Type of the key used for measurement lookup

Definition at line 584 of file KeyedKalmanFilter.hpp.

KeyedMatrix2d

template<typename RowKeyType, typename ColKeyType = RowKeyType>

using NAV::KeyedMatrix2d

Static 2x2 squared size KeyedMatrix with double types.

Template Parameters

RowKeyType	Type of the key used for row lookup
ColKeyType	Type of the key used for col lookup

Definition at line 2318 of file KeyedMatrix.hpp.

KeyedMatrix3d

template<typename RowKeyType, typename ColKeyType = RowKeyType>

using NAV::KeyedMatrix3d

Static 3x3 squared size KeyedMatrix with double types.

Template Parameters

RowKeyType	Type of the key used for row lookup
ColKeyType	Type of the key used for col lookup

Definition at line 2323 of file KeyedMatrix.hpp.

KeyedMatrix4d

template<typename RowKeyType, typename ColKeyType = RowKeyType>

using NAV::KeyedMatrix4d

Static 4x4 squared size KeyedMatrix with double types.

Template Parameters

RowKeyType	Type of the key used for row lookup
ColKeyType	Type of the key used for col lookup

Definition at line 2328 of file KeyedMatrix.hpp.

KeyedMatrix5d

template<typename RowKeyType, typename ColKeyType = RowKeyType>

using NAV::KeyedMatrix5d

Static 5x5 squared size KeyedMatrix with double types.

Template Parameters

RowKeyType	Type of the key used for row lookup
ColKeyType	Type of the key used for col lookup

Definition at line 2333 of file KeyedMatrix.hpp.

KeyedMatrix6d

template<typename RowKeyType, typename ColKeyType = RowKeyType>

using NAV::KeyedMatrix6d

Static 6x6 squared size KeyedMatrix with double types.

Template Parameters

RowKeyType	Type of the key used for row lookup
ColKeyType	Type of the key used for col lookup

Definition at line 2338 of file KeyedMatrix.hpp.

KeyedMatrixX

template<typename Scalar, typename RowKeyType, typename ColKeyType = RowKeyType>

using NAV::KeyedMatrixX

Dynamic size KeyedMatrix.

Template Parameters

Scalar	Numeric type, e.g. float, double, int or std::complex<float>.
RowKeyType	Type of the key used for row lookup
ColKeyType	Type of the key used for col lookup

Definition at line 2308 of file KeyedMatrix.hpp.

KeyedMatrixXd

template<typename RowKeyType, typename ColKeyType = RowKeyType>

using NAV::KeyedMatrixXd

Dynamic size KeyedMatrix with double types.

Template Parameters

RowKeyType	Type of the key used for row lookup
ColKeyType	Type of the key used for col lookup

Definition at line 2313 of file KeyedMatrix.hpp.

KeyedRowVector2d

template<typename ColKeyType>

using NAV::KeyedRowVector2d

Static 2 col KeyedRowVector with double types.

Template Parameters

ColKeyType

Type of the key used for col lookup

Definition at line 2381 of file KeyedMatrix.hpp.

KeyedRowVector3d

template<typename ColKeyType>

using NAV::KeyedRowVector3d

Static 3 col KeyedRowVector with double types.

Template Parameters

ColKeyType

Type of the key used for col lookup

Definition at line 2385 of file KeyedMatrix.hpp.

KeyedRowVector4d

template<typename ColKeyType>

using NAV::KeyedRowVector4d

Static 4 col KeyedRowVector with double types.

Template Parameters

ColKeyType

Type of the key used for col lookup

Definition at line 2389 of file KeyedMatrix.hpp.

KeyedRowVector5d

template<typename ColKeyType>

using NAV::KeyedRowVector5d

Static 5 col KeyedRowVector with double types.

Template Parameters

ColKeyType

Type of the key used for col lookup

Definition at line 2393 of file KeyedMatrix.hpp.

KeyedRowVector6d

template<typename ColKeyType>

using NAV::KeyedRowVector6d

Static 6 col KeyedRowVector with double types.

Template Parameters

ColKeyType

Type of the key used for col lookup

Definition at line 2397 of file KeyedMatrix.hpp.

KeyedRowVectorX

template<typename Scalar, typename ColKeyType>

using NAV::KeyedRowVectorX

Dynamic size KeyedRowVector.

Template Parameters

ColKeyType

Type of the key used for col lookup

Definition at line 2373 of file KeyedMatrix.hpp.

KeyedRowVectorXd

template<typename ColKeyType>

using NAV::KeyedRowVectorXd

Dynamic size KeyedRowVector with double types.

Template Parameters

ColKeyType

Type of the key used for col lookup

Definition at line 2377 of file KeyedMatrix.hpp.

KeyedVector2d

template<typename RowKeyType>

using NAV::KeyedVector2d

Static 2 row KeyedVector with double types.

Template Parameters

RowKeyType

Type of the key used for row lookup

Definition at line 2352 of file KeyedMatrix.hpp.

KeyedVector3d

template<typename RowKeyType>

using NAV::KeyedVector3d

Static 3 row KeyedVector with double types.

Template Parameters

RowKeyType

Type of the key used for row lookup

Definition at line 2356 of file KeyedMatrix.hpp.

KeyedVector4d

template<typename RowKeyType>

using NAV::KeyedVector4d

Static 4 row KeyedVector with double types.

Template Parameters

RowKeyType

Type of the key used for row lookup

Definition at line 2360 of file KeyedMatrix.hpp.

KeyedVector5d

template<typename RowKeyType>

using NAV::KeyedVector5d

Static 5 row KeyedVector with double types.

Template Parameters

RowKeyType

Type of the key used for row lookup

Definition at line 2364 of file KeyedMatrix.hpp.

KeyedVector6d

template<typename RowKeyType>

using NAV::KeyedVector6d

Static 6 row KeyedVector with double types.

Template Parameters

RowKeyType

Type of the key used for row lookup

Definition at line 2368 of file KeyedMatrix.hpp.

KeyedVectorX

template<typename Scalar, typename RowKeyType>

using NAV::KeyedVectorX

Dynamic size KeyedVector.

Template Parameters

Scalar	Numeric type, e.g. float, double, int or std::complex<float>.
RowKeyType	Type of the key used for row lookup

Definition at line 2344 of file KeyedMatrix.hpp.

KeyedVectorXd

template<typename RowKeyType>

using NAV::KeyedVectorXd

Dynamic size KeyedVector with double types.

Template Parameters

RowKeyType

Type of the key used for row lookup

Definition at line 2348 of file KeyedMatrix.hpp.

Enumeration Type Documentation

ColormapMaskType

enum class NAV::ColormapMaskType : uint8_t

strong

Type of the Colormap mask.

Enumerator
None	Do not use a colormap mask.
Global	Use the global colormap.
Flow	Use the flow colormap.

Definition at line 117 of file Colormap.hpp.

Frequency_

enum NAV::Frequency_ : uint64_t

Enumerate for GNSS frequencies.

Enumerator
Freq_None	None.
G01	GPS L1 (1575.42 MHz).
G02	GPS L2 (1227.6 MHz).
G05	GPS L5 (1176.45 MHz).
E01	Galileo, "E1" (1575.42 MHz).
E05	Galileo E5a (1176.45 MHz).
E06	Galileo E6 (1278.75 MHz).
E07	Galileo E5b (1207.14 MHz).
E08	Galileo E5 (E5a + E5b) (1191.795MHz).
R01	GLONASS, "G1" (1602 MHZ).
R02	GLONASS, "G2" (1246 MHz).
R03	GLONASS, "G3" (1202.025 MHz).
R04	GLONASS, "G1a" (1600.995 MHZ).
R06	GLONASS, "G2a" (1248.06 MHz).
B01	Beidou B1 (1575.42 MHz).
B02	Beidou B1-2 (B1I) (1561.098 MHz).
B05	Beidou B2a (1176.45 MHz).
B06	Beidou B3 (1268.52 MHz).
B07	Beidou B2b (B2I) (1207.14 MHz).
B08	Beidou B2 (B2a + B2b) (1191.795MHz).
J01	QZSS L1 (1575.42 MHz).
J02	QZSS L2 (1227.6 MHz).
J05	QZSS L5 (1176.45 MHz).
J06	QZSS L6 / LEX (1278.75 MHz).
I05	IRNSS L5 (1176.45 MHz).
I09	IRNSS S (2492.028 MHz).
S01	SBAS L1 (1575.42 MHz).
S05	SBAS L5 (1176.45 MHz).

Definition at line 25 of file Frequency.hpp.

GravitationModel

enum class NAV::GravitationModel : uint8_t

strong

Available Gravitation Models.

Enumerator
None	Gravity Model turned off.
WGS84	World Geodetic System 1984.
WGS84_Skydel	World Geodetic System 1984 implemented by the Skydel Simulator // FIXME: Remove after Skydel uses the same as Instinct.
Somigliana	Somigliana gravity model.
EGM96	Earth Gravitational Model 1996.
COUNT	Amount of items in the enum.

Definition at line 29 of file Gravity.hpp.

IonosphereModel

enum class NAV::IonosphereModel : uint8_t

strong

Available Ionosphere Models.

Enumerator
None	Ionosphere model turned off.
Klobuchar	Klobuchar model (GPS), also called Broadcast sometimes.
COUNT	Amount of items in the enum.

Definition at line 27 of file Ionosphere.hpp.

MappingFunction

enum class NAV::MappingFunction : uint8_t

strong

Available Mapping Functions.

Enumerator
None	Mapping Function turned off (= 1)
Cosecant	Cosecant of elevation.
GMF	Global Mapping Function (GMF)
NMF	Niell Mapping Function (NMF)
VMF_GPT2	Vienna Mapping Function based on the GPT2 grid.
VMF_GPT3	Vienna Mapping Function based on the GPT3 grid.
COUNT	Amount of items in the enum.

Definition at line 50 of file Troposphere.hpp.

PolynomialCycleSlipDetectorResult

enum class NAV::PolynomialCycleSlipDetectorResult : uint8_t

strong

Cycle-slip detection result type.

Enumerator
Disabled	The cycle-slip detector is disabled.
LessDataThanWindowSize	Less data than the specified window size (cannot predict cycle-slip yet)
NoCycleSlip	No cycle-slip found.
CycleSlip	Cycle-slip found.

Definition at line 38 of file PolynomialCycleSlipDetector.hpp.

PressureModel

enum class NAV::PressureModel : uint8_t

strong

Available pressure Models.

Enumerator
None	No pressure model.
ConstNN	Constant value at zero altitude.
ISA	ICAO Standard Atmosphere.
GPT2	GPT2.
GPT3	GPT3.
COUNT	Amount of items in the enum.

Definition at line 23 of file Pressure.hpp.

SatelliteSystem_

enum NAV::SatelliteSystem_ : uint64_t

Satellite System enumeration.

Enumerator
SatSys_None	No Satellite system.
GPS	Global Positioning System.
GAL	Galileo.
GLO	Globalnaja nawigazionnaja sputnikowaja sistema (GLONASS)
BDS	Beidou.
QZSS	Quasi-Zenith Satellite System.
IRNSS	Indian Regional Navigation Satellite System.
SBAS	Satellite Based Augmentation System.

Definition at line 30 of file SatelliteSystem.hpp.

SystemModelCalcAlgorithm

enum class NAV::SystemModelCalcAlgorithm : uint8_t

strong

Algorithms to calculate the system model with.

Enumerator
VanLoan	Van-Loan.
Taylor1	Taylor.

Definition at line 22 of file SystemModel.hpp.

TimeSystem_

enum NAV::TimeSystem_ : uint8_t

List of all time systems.

Enumerator
TimeSys_None	No Time system.
UTC	Coordinated Universal Time.
GPST	GPS Time.
GLNT	GLONASS Time (GLONASST)
GST	Galileo System Time.
BDT	BeiDou Time.
QZSST	Quasi-Zenith Satellite System Time.
IRNSST	Indian Regional Navigation Satellite System Time.

Definition at line 26 of file TimeSystem.hpp.

TroposphereModel

enum class NAV::TroposphereModel : uint8_t

strong

Available Troposphere delay models.

Enumerator
None	Troposphere Model turned off.
Saastamoinen	Saastamoinen model.
GPT2	GPT2.
GPT3	GPT3.
COUNT	Amount of items in the enum.

Definition at line 40 of file Troposphere.hpp.

WaterVaporModel

enum class NAV::WaterVaporModel : uint8_t

strong

Available Water vapor Models.

Enumerator
None	Water vapor model turned off.
ISA	ICAO Standard Atmosphere.
GPT2	GPT2.
GPT3	GPT3.
COUNT	Amount of items in the enum.

Definition at line 23 of file WaterVapor.hpp.

Function Documentation

apply_permutation() [1/2]

template<typename Scalar, int Size>

Eigen::Vector< Scalar, Size > NAV::apply_permutation	(	const Eigen::Vector< Scalar, Size > &	vec,
		const std::vector< size_t > &	p )

Sort a vector with a permutation.

Parameters

vec	Vector to sort
p	Permutation to sort by

Returns

Sorted vector

Note

Taken from https://stackoverflow.com/a/17074810, adapted for Eigen

Definition at line 72 of file Sort.hpp.

apply_permutation() [2/2]

template<typename T>

std::vector< T > NAV::apply_permutation	(	const std::vector< T > &	vec,
		const std::vector< size_t > &	p )

Sort a std::vector with a permutation.

Parameters

vec	Vector to sort
p	Permutation to sort by

Returns

Sorted vector

Note

Taken from https://stackoverflow.com/a/17074810

Definition at line 58 of file Sort.hpp.

apply_permutation_colwise()

template<typename Derived>

Derived::PlainObject NAV::apply_permutation_colwise	(	const Eigen::MatrixBase< Derived > &	m,
		const std::vector< size_t > &	p )

Sort a matrix col-wise with a permutation.

Parameters

m	Matrix to sort
p	Permutation to sort by

Returns

Sorted matrix

Note

Taken from https://stackoverflow.com/a/17074810, adapted for Eigen

Definition at line 100 of file Sort.hpp.

apply_permutation_colwise_in_place()

template<typename Scalar, int Rows, int Cols>

void NAV::apply_permutation_colwise_in_place	(	Eigen::Matrix< Scalar, Rows, Cols > &	m,
		const std::vector< size_t > &	p )

Sort a matrix col-wise with a permutation.

Parameters

m	Matrix to sort
p	Permutation to sort by

Note

Taken from https://stackoverflow.com/a/17074810

Definition at line 193 of file Sort.hpp.

apply_permutation_in_place() [1/2]

template<typename Scalar, int Size>

void NAV::apply_permutation_in_place	(	Eigen::Vector< Scalar, Size > &	vec,
		const std::vector< size_t > &	p )

Sort a vector with a permutation.

Parameters

vec	Vector to sort
p	Permutation to sort by

Note

Taken from https://stackoverflow.com/a/17074810

Definition at line 139 of file Sort.hpp.

apply_permutation_in_place() [2/2]

template<typename T>

void NAV::apply_permutation_in_place	(	std::vector< T > &	vec,
		const std::vector< size_t > &	p )

Sort a std::vector with a permutation.

Parameters

vec	Vector to sort
p	Permutation to sort by

Definition at line 112 of file Sort.hpp.

apply_permutation_rowwise()

template<typename Derived>

Derived::PlainObject NAV::apply_permutation_rowwise	(	const Eigen::MatrixBase< Derived > &	m,
		const std::vector< size_t > &	p )

Sort a matrix row-wise with a permutation.

Parameters

m	Matrix to sort
p	Permutation to sort by

Returns

Sorted matrix

Note

Taken from https://stackoverflow.com/a/17074810, adapted for Eigen

Definition at line 86 of file Sort.hpp.

apply_permutation_rowwise_in_place()

template<typename Scalar, int Rows, int Cols>

void NAV::apply_permutation_rowwise_in_place	(	Eigen::Matrix< Scalar, Rows, Cols > &	m,
		const std::vector< size_t > &	p )

Sort a matrix row-wise with a permutation.

Parameters

m	Matrix to sort
p	Permutation to sort by

Note

Taken from https://stackoverflow.com/a/17074810

Definition at line 166 of file Sort.hpp.

asknewet()

double NAV::asknewet	(	const double &	e,
		const double &	Tm,
		const double &	la )

This subroutine determines the zenith wet delay.

Parameters

[in]	e	water vapor pressure in hPa
[in]	Tm	mean temperature in Kelvin
[in]	la	water vapor lapse rate (see definition in Askne and Nordius 1987)

Returns

zwd: zenith wet delay in meter

Note

See [3] Aske and Nordius (1987), eq. 22

Definition at line 587 of file GPT.cpp.

calcAbsoluteTemperatureStAtm()

double NAV::calcAbsoluteTemperatureStAtm ( double altitudeMSL )

nodiscardconstexpr

Calculates the standard atmosphere absolute temperature.

Parameters

[in]

altitudeMSL

Geodetic height above MSL (mean sea level)

Returns

The absolute temperature in [K]

Note

See [44] RTKLIB ch. E.5, eq. E.5.2, p. 149

Definition at line 23 of file StandardAtmosphere.hpp.

calcEarthRadius_E()

template<std::floating_point Scalar>

Scalar NAV::calcEarthRadius_E ( const Scalar & latitude, const Scalar & a = InsConst::WGS84::a, const Scalar & e_squared = InsConst::WGS84::e_squared )

nodiscard

Calculates the East/West (prime vertical) earth radius.

Parameters

[in]	latitude	𝜙 Latitude in [rad]
[in]	a	Semi-major axis
[in]	e_squared	Square of the first eccentricity of the ellipsoid

Returns

East/West (prime vertical) earth radius [m]

Note

See [17] Groves, ch. 2.4.2, eq. 2.106, p. 59

See [47] Titterton, ch. 3.7.2, eq. 3.84, p. 49

Definition at line 58 of file Ellipsoid.hpp.

calcEarthRadius_N()

template<std::floating_point Scalar>

Scalar NAV::calcEarthRadius_N ( const Scalar & latitude, const Scalar & a = InsConst::WGS84::a, const Scalar & e_squared = InsConst::WGS84::e_squared )

nodiscard

Calculates the North/South (meridian) earth radius.

Parameters

[in]	latitude	𝜙 Latitude in [rad]
[in]	a	Semi-major axis
[in]	e_squared	Square of the first eccentricity of the ellipsoid

Returns

North/South (meridian) earth radius [m]

Note

See [17] Groves, ch. 2.4.2, eq. 2.105, p. 59

See [47] Titterton, ch. 3.7.2, eq. 3.83, p. 49

Definition at line 42 of file Ellipsoid.hpp.

calcGeocentricRadius()

template<std::floating_point Scalar>

Scalar NAV::calcGeocentricRadius ( const Scalar & latitude, const Scalar & R_E, const Scalar & e_squared = InsConst::WGS84::e_squared )

nodiscard

r_eS^e The distance of a point on the Earth's surface from the center of the Earth

Parameters

[in]	latitude	𝜙 Latitude in [rad]
[in]	R_E	Prime vertical radius of curvature (East/West) in [m]
[in]	e_squared	Square of the first eccentricity of the ellipsoid

Returns

Geocentric Radius in [m]

Note

[17] Groves, ch. 2.4.7, eq. 2.137, p. 71

Definition at line 29 of file Ellipsoid.hpp.

calcGeographicalDistance()

template<std::floating_point Scalar>

Scalar NAV::calcGeographicalDistance ( Scalar lat1, Scalar lon1, Scalar lat2, Scalar lon2 )

nodiscard

Measure the distance between two points over an ellipsoidal-surface.

Parameters

[in]	lat1	Latitude of first point in [rad]
[in]	lon1	Longitude of first point in [rad]
[in]	lat2	Latitude of second point in [rad]
[in]	lon2	Longitude of second point in [rad]

Returns

The distance in [m]

Note

See Lambert's formula for long lines (https://en.wikipedia.org/wiki/Geographical_distance#Lambert's_formula_for_long_lines)

Definition at line 107 of file Ellipsoid.hpp.

calcGreatCircleDistance()

template<std::floating_point Scalar>

Scalar NAV::calcGreatCircleDistance ( Scalar lat1, Scalar lon1, Scalar lat2, Scalar lon2 )

nodiscard

Measure the distance between two points on a sphere.

Parameters

[in]	lat1	Latitude of first point in [rad]
[in]	lon1	Longitude of first point in [rad]
[in]	lat2	Latitude of second point in [rad]
[in]	lon2	Longitude of second point in [rad]

Returns

The distance in [m]

Note

See Haversine Formula (https://www.movable-type.co.uk/scripts/latlong.html)

Definition at line 88 of file Ellipsoid.hpp.

calcIonosphericDelay()

double NAV::calcIonosphericDelay	(	double	tow,
		Frequency	freq,
		int8_t	freqNum,
		const Eigen::Vector3d &	lla_pos,
		double	elevation,
		double	azimuth,
		IonosphereModel	ionosphereModel = IonosphereModel::None,
		const IonosphericCorrections *	corrections = nullptr )

Calculates the ionospheric delay.

Parameters

[in]	tow	GPS time of week in [s]
[in]	freq	Frequency of the signal
[in]	freqNum	Frequency number. Only used for GLONASS G1 and G2
[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]
[in]	elevation	Angle between the user and satellite [rad]
[in]	azimuth	Angle between the user and satellite, measured clockwise positive from the true North [rad]
[in]	ionosphereModel	Ionosphere model to use
[in]	corrections	Ionospheric correction parameters

Returns

Ionospheric time delay in [m]

Definition at line 43 of file Ionosphere.cpp.

calcIonosphericTimeDelay_Klobuchar()

double NAV::calcIonosphericTimeDelay_Klobuchar	(	double	tow,
		Frequency	freq,
		int8_t	freqNum,
		double	latitude,
		double	longitude,
		double	elevation,
		double	azimuth,
		const std::array< double, 4 > &	alpha,
		const std::array< double, 4 > &	beta )

Calculates the ionospheric time delay with the Klobuchar model.

Parameters

[in]	tow	GPS time of week in [s]
[in]	freq	Frequency of the signal
[in]	freqNum	Frequency number. Only used for GLONASS G1 and G2
[in]	latitude	𝜙 Geodetic latitude in [rad]
[in]	longitude	λ Geodetic longitude in [rad]
[in]	elevation	Angle between the user and satellite [rad]
[in]	azimuth	Angle between the user and satellite, measured clockwise positive from the true North [rad]
[in]	alpha	The coefficients of a cubic equation representing the amplitude of the vertical delay
[in]	beta	The coefficients of a cubic equation representing the period of the model

Returns

Ionospheric time delay in [s]

Note

See [27] Klobuchar p. 329

See [21] IS-GPS-200 ch. 20.3.3.5.2.5 Figure 20-4 p.131-134

Algorithm description

Given the approximate position , the elevation angle , the azimuth as well as the 8 Klobuchar coefficients one can compute the following:

• earth-centred angle (elevation in semicircles)

  

• latitude of the Ionospheric Pierce Point IPP (semicircles)

  

  If , then and if , then .
• longitude of the Ionospheric Pierce Point IPP (semicircles)

  

• geomagnetic latitude of IPP

  

• local time at IPP in [s]

  

  where the local time at IPP is , so if , and if , .
• slant factor (elevation in semicircles)

  

• amplitude of ionospheric delay in [s]

  

• period of ionospheric delay in [s]

  

  If , set it to .
• phase of ionospheric delay in [rad]

  

• ionospheric time delay in [s]

  

• The ionospheric time delay refers to the GPS L1 frequency and gets adapted to the given frequency automatically.

Definition at line 21 of file Klobuchar.cpp.

calcPhiAndQWithVanLoanMethod() [1/2]

template<typename DerivedF, typename DerivedG, typename DerivedW>

std::pair< typename DerivedF::PlainObject, typename DerivedF::PlainObject > NAV::calcPhiAndQWithVanLoanMethod ( const Eigen::MatrixBase< DerivedF > & F, const Eigen::MatrixBase< DerivedG > & G, const Eigen::MatrixBase< DerivedW > & W, double dt )

nodiscard

Numerical Method to calculate the State transition matrix 𝚽 and System/Process noise covariance matrix 𝐐

Template Parameters

DerivedF	Matrix type of the F matrix
DerivedG	Matrix type of the G matrix
DerivedW	Matrix type of the W matrix

Parameters

[in]	F	System model matrix
[in]	G	Noise model matrix
[in]	W	Noise scale factors
[in]	dt	Time step in [s]

Returns

A pair with the matrices {𝚽, 𝐐}

Definition at line 65 of file VanLoan.hpp.

calcPhiAndQWithVanLoanMethod() [2/2]

template<typename DerivedF, typename DerivedG, typename DerivedW>

std::pair< typename DerivedF::PlainObject, typename DerivedF::PlainObject > NAV::calcPhiAndQWithVanLoanMethod ( const Eigen::MatrixBase< DerivedF > & F, const Eigen::MatrixBase< DerivedG > & G, const Eigen::MatrixBase< DerivedW > & W, double dt, size_t expmOrder )

nodiscard

Numerical Method to calculate the State transition matrix 𝚽 and System/Process noise covariance matrix 𝐐

Template Parameters

DerivedF	Matrix type of the F matrix
DerivedG	Matrix type of the G matrix
DerivedW	Matrix type of the W matrix

Parameters

[in]	F	System model matrix
[in]	G	Noise model matrix
[in]	W	Noise scale factors
[in]	dt	Time step in [s]
[in]	expmOrder	Order to use to calculate the exponential matrix

Returns

A pair with the matrices {𝚽, 𝐐}

Definition at line 109 of file VanLoan.hpp.

calcPitchFromStaticAcceleration()

template<typename Derived>

Derived::Scalar NAV::calcPitchFromStaticAcceleration ( const Eigen::MatrixBase< Derived > & b_accel )

nodiscard

Calculates the pitch angle from a static acceleration measurement.

Parameters

[in]

b_accel

Acceleration measurement in static condition in [m/s^2]

Returns

The pitch angle in [rad]

Note

See E.-H. Shin (2005) - Estimation Techniques for Low-Cost Inertial Navigation (Chapter 2.6)

Definition at line 133 of file Functions.hpp.

calcPitchFromVelocity()

template<typename Derived>

Derived::Scalar NAV::calcPitchFromVelocity ( const Eigen::MatrixBase< Derived > & n_velocity )

nodiscard

Calculates the Pitch angle from the trajectory defined by the given velocity.

Parameters

[in]

n_velocity

Velocity in [m/s] in local-navigation frame coordinates

Returns

Pitch angle in [rad]

Note

See [17] Groves, ch. 6.1.4, eq. 6.17, p. 225

Definition at line 169 of file Functions.hpp.

calcRollFromStaticAcceleration()

template<typename Derived>

Derived::Scalar NAV::calcRollFromStaticAcceleration ( const Eigen::MatrixBase< Derived > & b_accel )

nodiscard

Calculates the roll angle from a static acceleration measurement.

Parameters

[in]

b_accel

Acceleration measurement in static condition in [m/s^2]

Returns

The roll angle in [rad]

Note

See E.-H. Shin (2005) - Estimation Techniques for Low-Cost Inertial Navigation (Chapter 2.6)

Definition at line 118 of file Functions.hpp.

calcSagnacCorrection()

template<typename DerivedA, typename DerivedB>

DerivedA::Scalar NAV::calcSagnacCorrection ( const Eigen::MatrixBase< DerivedA > & e_posAnt, const Eigen::MatrixBase< DerivedB > & e_satPos )

nodiscard

Calculates the Earth rotation/Sagnac correction.

Parameters

[in]	e_posAnt	Position of the user antenna in ECEF frame coordinates
[in]	e_satPos	Position of the satellite in ECEF frame coordinates

Returns

Earth rotation/Sagnac correction [m]

Note

See [45] Springer Handbook ch. 19.1.1, eq. 19.7, p. 562

Definition at line 66 of file Functions.hpp.

calcSagnacRateCorrection()

template<typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>

DerivedA::Scalar NAV::calcSagnacRateCorrection ( const Eigen::MatrixBase< DerivedA > & e_recvPos, const Eigen::MatrixBase< DerivedB > & e_satPos, const Eigen::MatrixBase< DerivedC > & e_recvVel, const Eigen::MatrixBase< DerivedD > & e_satVel )

nodiscard

Calculates the Range-rate Earth rotation/Sagnac correction.

Parameters

[in]	e_recvPos	Position of the user antenna in ECEF frame coordinates
[in]	e_satPos	Position of the satellite in ECEF frame coordinates
[in]	e_recvVel	Velocity of the user antenna in ECEF frame coordinates
[in]	e_satVel	Velocity of the satellite in ECEF frame coordinates

Returns

Range-rate Earth rotation/Sagnac correction [m/s]

Note

See [17] Groves ch. 8.5.3, eq. 8.46, p. 342

Definition at line 81 of file Functions.hpp.

calcSatAzimuth()

template<typename Derived>

Derived::Scalar NAV::calcSatAzimuth ( const Eigen::MatrixBase< Derived > & n_lineOfSightUnitVector )

nodiscard

Calculates the azimuth of the satellite from the antenna.

Parameters

[in]

n_lineOfSightUnitVector

Line-of-sight unit vector from the antenna to the satellite in NED frame coordinates

Returns

Azimuth [rad]

Note

See [17] Groves, ch. 8.5.4, eq. 8.57, p. 344

Definition at line 54 of file Functions.hpp.

calcSatElevation()

template<typename Derived>

Derived::Scalar NAV::calcSatElevation ( const Eigen::MatrixBase< Derived > & n_lineOfSightUnitVector )

nodiscard

Calculates the elevation of the satellite from the antenna.

Parameters

[in]

n_lineOfSightUnitVector

Line-of-sight unit vector from the antenna to the satellite in NED frame coordinates

Returns

Elevation [rad]

Note

See [17] Groves, ch. 8.5.4, eq. 8.57, p. 344

Definition at line 43 of file Functions.hpp.

calcTimeDerivativeFor_e_Quat_b()

template<typename DerivedA, typename DerivedB>

Eigen::Vector4< typename DerivedA::Scalar > NAV::calcTimeDerivativeFor_e_Quat_b	(	const Eigen::MatrixBase< DerivedA > &	b_omega_eb,
		const Eigen::MatrixBase< DerivedB > &	e_Quat_b_coeffs )

Calculates the time derivative of the quaternion e_Quat_b.

Parameters

[in]	b_omega_eb	ω_eb_b Body rate with respect to the ECEF frame, expressed in the body frame
[in]	e_Quat_b_coeffs	Coefficients of the quaternion e_Quat_b in order x, y, z, w (q = w + ix + jy + kz)

Returns

The time derivative of the coefficients of the quaternion e_Quat_b in order x, y, z, w (q = w + ix + jy + kz)

Note

See Propagation of quaternion with time equation

Definition at line 51 of file Mechanization.hpp.

calcTimeDerivativeFor_n_Quat_b()

template<typename DerivedA, typename DerivedB>

Eigen::Vector4< typename DerivedA::Scalar > NAV::calcTimeDerivativeFor_n_Quat_b	(	const Eigen::MatrixBase< DerivedA > &	b_omega_nb,
		const Eigen::MatrixBase< DerivedB > &	n_Quat_b_coeffs )

Calculates the time derivative of the quaternion n_Quat_b.

Parameters

[in]	b_omega_nb	ω_nb_b Body rate with respect to the navigation frame, expressed in the body frame
[in]	n_Quat_b_coeffs	Coefficients of the quaternion n_Quat_b in order x, y, z, w (q = w + ix + jy + kz)

Returns

The time derivative of the coefficients of the quaternion n_Quat_b in order x, y, z, w (q = w + ix + jy + kz)

Note

See Propagation of quaternion with time equation

Definition at line 52 of file Mechanization.hpp.

calcTotalPressure()

double NAV::calcTotalPressure ( double altitudeMSL, PressureModel pressureModel )

nodiscard

Calculates the total pressure.

Parameters

[in]	altitudeMSL	Geodetic height above MSL (mean sea level) [m]
[in]	pressureModel	Pressure model to use

Returns

The total pressure in [hPa] = [mbar]

Definition at line 45 of file Pressure.cpp.

calcTotalPressureStAtm()

double NAV::calcTotalPressureStAtm ( double altitudeMSL )

nodiscardconstexpr

Calculates the standard atmosphere total pressure.

Parameters

[in]

altitudeMSL

Geodetic height above MSL (mean sea level) [m]

Returns

The total pressure in [hPa] = [mbar]

Note

See [44] RTKLIB ch. E.5, eq. E.5.1, p. 149

Definition at line 25 of file StandardAtmosphere.hpp.

calcTropoMapFunc_cosecant()

double NAV::calcTropoMapFunc_cosecant

(

double

elevation

)

Calculates the mapping factor as cosecant of the elevation.

Parameters

[in]

elevation

Angle between the user and satellite [rad]

Returns

Mapping factor for converting tropospheric zenith delay into slant delay

Definition at line 16 of file Cosecant.cpp.

calcTropoMapFunc_GMFH()

double NAV::calcTropoMapFunc_GMFH	(	double	mjd,
		const Eigen::Vector3d &	lla_pos,
		double	elevation )

Calculates the Global Mapping Function (GMF) for the hydrostatic delay.

Parameters

[in]	mjd	Modified julian date
[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]
[in]	elevation	Angle between the user and satellite [rad]

Returns

Hydrostatic mapping function

Definition at line 75 of file GMF.cpp.

calcTropoMapFunc_GMFW()

double NAV::calcTropoMapFunc_GMFW	(	double	mjd,
		const Eigen::Vector3d &	lla_pos,
		double	elevation )

Calculates the Global Mapping Function (GMF) for the wet delay.

Parameters

[in]	mjd	Modified julian date
[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]
[in]	elevation	Angle between the user and satellite [rad]

Returns

Wet mapping function

Definition at line 140 of file GMF.cpp.

calcTropoMapFunc_NMFH()

double NAV::calcTropoMapFunc_NMFH	(	const InsTime &	epoch,
		const Eigen::Vector3d &	lla_pos,
		double	elevation )

Calculates the Niell Mapping Function (NMF) for the hydrostatic delay.

Parameters

[in]	epoch	Time
[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]
[in]	elevation	Angle between the user and satellite [rad]

Returns

Hydrostatic mapping function

Definition at line 87 of file NiellMappingFunction.cpp.

calcTropoMapFunc_NMFW()

double NAV::calcTropoMapFunc_NMFW	(	const Eigen::Vector3d &	lla_pos,
		double	elevation )

Calculates the Niell Mapping Function (NMF) for the wet delay.

Parameters

[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]
[in]	elevation	Angle between the user and satellite [rad]

Returns

Wet mapping function

Definition at line 111 of file NiellMappingFunction.cpp.

calcTropoMapFunc_secant()

double NAV::calcTropoMapFunc_secant

(

double

zenithDistance

)

Calculates the mapping factor as cosecant of the elevation (= secant of the zenith distance)

Parameters

[in]

zenithDistance

Zenith distance/angle of the satellite [rad]

Returns

Mapping factor for converting tropospheric zenith delay into slant delay

Definition at line 21 of file Cosecant.cpp.

calcTroposphericDelayAndMapping()

ZenithDelay NAV::calcTroposphericDelayAndMapping	(	const InsTime &	insTime,
		const Eigen::Vector3d &	lla_pos,
		double	elevation,
		double	azimuth,
		const TroposphereModelSelection &	troposphereModels,
		const std::string &	nameId )

Calculates the tropospheric zenith hydrostatic and wet delays and corresponding mapping factors.

Parameters

[in]	insTime	Time to calculate the values for
[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]
[in]	elevation	Satellite elevation [rad]
[in]	azimuth	Satellite azimuth [rad]
[in]	troposphereModels	Models to use for each calculation
[in]	nameId	Name and Id of the node used for log messages only

Returns

ZHD, ZWD and mapping factors for ZHD and ZWD

Definition at line 297 of file Troposphere.cpp.

calcWaterVaporPartialPressure()

double NAV::calcWaterVaporPartialPressure ( double temp, double humidity_rel, WaterVaporModel waterVaporModel )

nodiscard

Calculates the partial pressure of water vapor.

Parameters

[in]	temp	The absolute temperature in [K]
[in]	humidity_rel	The relative humidity
[in]	waterVaporModel	Water vapor model to use

Returns

The partial pressure [hPa] of water vapor

Definition at line 43 of file WaterVapor.cpp.

calcWaterVaporPartialPressureStAtm()

double NAV::calcWaterVaporPartialPressureStAtm ( double temp, double humidity_rel )

nodiscardconstexpr

Calculates the standard atmosphere partial pressure of water vapor.

Parameters

[in]	temp	The absolute temperature in [K]
[in]	humidity_rel	The relative humidity

Returns

The partial pressure [hPa] of water vapor

Note

See [44] RTKLIB ch. E.5, eq. E.5.3, p. 149

Definition at line 26 of file StandardAtmosphere.hpp.

calcYawFromVelocity()

template<typename Derived>

Derived::Scalar NAV::calcYawFromVelocity ( const Eigen::MatrixBase< Derived > & n_velocity )

nodiscard

Calculates the Yaw angle from the trajectory defined by the given velocity.

Parameters

[in]

n_velocity

Velocity in [m/s] in local-navigation frame coordinates

Returns

Yaw angle in [rad]

Note

See [17] Groves, ch. 6.1.4, eq. 6.14, p. 225

Definition at line 153 of file Functions.hpp.

calcZHD_Saastamoinen()

double NAV::calcZHD_Saastamoinen	(	const Eigen::Vector3d &	lla_pos,
		double	p )

Calculates the tropospheric zenith hydrostatic delay with the Saastamoinen model.

Parameters

[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]
[in]	p	Total barometric pressure in [millibar]

Returns

Range correction for troposphere and stratosphere for radio ranging in [m]

Note

See [41] Saastamoinen, p. 32

See [11] Davis, Appendix A, p. 1604

See [8] Böhm ch. 1, p. 1

See [44] RTKLIB ch. E.5 Troposphere and Ionosphere Models, sec. (1), p. 149

Definition at line 17 of file Saastamoinen.cpp.

calcZWD_Saastamoinen()

double NAV::calcZWD_Saastamoinen	(	double	T,
		double	e )

Calculates the tropospheric zenith wet delay with the Saastamoinen model.

Parameters

[in]	T	Absolute temperature in [K]
[in]	e	Partial pressure of water vapour in [millibar]

Returns

Range correction for troposphere and stratosphere for radio ranging in [m]

Note

See [41] Saastamoinen, p. 32

See [11] Davis, Appendix A, p. 1604

See [8] Böhm ch. 1, p. 1

See [44] RTKLIB ch. E.5 Troposphere and Ionosphere Models, sec. (1), p. 149

Definition at line 29 of file Saastamoinen.cpp.

cartesian_product() [1/2]

template<typename Function, typename... Ranges>

void NAV::cartesian_product	(	Function	function,
		Ranges const &...	ranges )

Calls a function on all combinations over ranges.

Parameters

[in]	function	Function to call. Needs one parameter for each range given. Type of the parameter must be equal to the range type.
[in]	ranges	Ranges to call the function on

Definition at line 196 of file CartesianProduct.hpp.

cartesian_product() [2/2]

template<typename SubList, size_t N, typename Function>

void NAV::cartesian_product	(	Function	function,
		std::array< SubList, N >	list )

Calls a function on all combinations over ranges defined in an array, e.g. std::array<std::vector>

Parameters

[in]	function	Function to call. Needs one parameter for each element in the array. Type of the parameter must be equal to the range type.
[in]	list	List of ranges to call the function on

Definition at line 217 of file CartesianProduct.hpp.

cartesian_product_idx()

template<typename SubList, size_t N, typename Function>

void NAV::cartesian_product_idx	(	Function	function,
		std::array< SubList, N >	list )

Calls a function on all combinations over ranges defined in an array, e.g. std::array<std::vector>. Instead of providing the list entry to the function, provides the index of it in the sub list.

Parameters

[in]	function	Function to call. Needs one 'size_t' parameter for each element in the array
[in]	list	List of ranges to call the function on

Definition at line 227 of file CartesianProduct.hpp.

ColormapButton()

bool NAV::ColormapButton	(	const char *	label,
		Colormap &	cmap,
		const ImVec2 &	size_arg )

Display a colormap button.

Parameters

[in]	label	Label to display on the button (unique id for ImGui)
[in,out]	cmap	Colormap to show on the button and edit in the popup
[in]	size_arg	Size of the button

Returns

True if clicked

Note

Code from Implot library

Definition at line 118 of file Colormap.cpp.

ColormapSearch()

std::optional< std::reference_wrapper< const Colormap > > NAV::ColormapSearch	(	const ColormapMaskType &	type,
		const int64_t &	id )

Searches for the colormap in the Global and Flow colormaps.

Parameters

type	Type of the colormap (global or flow)
id	Id of the colormap

Returns

The colormap if one could be found

Definition at line 301 of file Colormap.cpp.

ComboGravitationModel()

bool NAV::ComboGravitationModel	(	const char *	label,
		GravitationModel &	gravitationModel )

Shows a ComboBox to select the gravitation model.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	gravitationModel	Reference to the gravitation model to select

Definition at line 38 of file Gravity.cpp.

ComboIonosphereModel()

bool NAV::ComboIonosphereModel	(	const char *	label,
		IonosphereModel &	ionosphereModel )

Shows a ComboBox to select the ionosphere model.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	ionosphereModel	Reference to the ionosphere model to select

Definition at line 38 of file Ionosphere.cpp.

ComboPressureModel()

bool NAV::ComboPressureModel	(	const char *	label,
		PressureModel &	pressureModel )

Shows a ComboBox to select the pressure model.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	pressureModel	Reference to the pressure model to select

Definition at line 40 of file Pressure.cpp.

ComboTemperatureModel()

bool NAV::ComboTemperatureModel	(	const char *	label,
		TemperatureModel &	temperatureModel )

Shows a ComboBox to select the temperature model.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	temperatureModel	Reference to the temperature model to select

Definition at line 22 of file Temperature.cpp.

ComboTimeSystem()

bool NAV::ComboTimeSystem	(	const char *	label,
		TimeSystem &	timeSystem )

Shows a ComboBox to select the time system.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	timeSystem	Reference to the time system to select

Definition at line 44 of file TimeSystem.cpp.

ComboTroposphereModel()

bool NAV::ComboTroposphereModel	(	const char *	label,
		TroposphereModelSelection &	troposphereModelSelection,
		float	width = 0.0F )

Shows a ComboBox and button for advanced configuration to select the troposphere models.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	troposphereModelSelection	Reference to the troposphere model to select
[in]	width	Width of the widget

Definition at line 141 of file Troposphere.cpp.

ComboWaterVaporModel()

bool NAV::ComboWaterVaporModel	(	const char *	label,
		WaterVaporModel &	waterVaporModel )

Shows a ComboBox to select the water vapor model.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	waterVaporModel	Reference to the water vapor model to select

Definition at line 38 of file WaterVapor.cpp.

conversionMatrixCartesianCurvilinear()

template<typename Derived>

Eigen::Matrix3< typename Derived::Scalar > NAV::conversionMatrixCartesianCurvilinear ( const Eigen::MatrixBase< Derived > & lla_position, const typename Derived::Scalar & R_N, const typename Derived::Scalar & R_E )

nodiscard

Conversion matrix between cartesian and curvilinear perturbations to the position.

Parameters

[in]	lla_position	Position as Lat Lon Alt in [rad rad m]
[in]	R_N	Meridian radius of curvature in [m]
[in]	R_E	Prime vertical radius of curvature (East/West) [m]

Returns

T_rn_p A 3x3 matrix

Note

See [17] Groves, ch. 2.4.3, eq. 2.119, p. 63

Definition at line 71 of file Ellipsoid.hpp.

convertUnit() [1/24]

double NAV::convertUnit ( const double & value, Units::AttitudeUncertaintyUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 189 of file Units.cpp.

convertUnit() [2/24]

double NAV::convertUnit ( const double & value, Units::AttitudeUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 247 of file Units.cpp.

convertUnit() [3/24]

double NAV::convertUnit ( const double & value, Units::CovarianceAccelUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 112 of file Units.cpp.

convertUnit() [4/24]

double NAV::convertUnit ( const double & value, Units::CovarianceAngularVelocityUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 126 of file Units.cpp.

convertUnit() [5/24]

double NAV::convertUnit ( const double & value, Units::CovarianceClkFrequencyDriftUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 162 of file Units.cpp.

convertUnit() [6/24]

double NAV::convertUnit ( const double & value, Units::CovarianceClkPhaseDriftUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 148 of file Units.cpp.

convertUnit() [7/24]

double NAV::convertUnit ( const double & value, Units::PositionUncertaintyUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 135 of file Units.cpp.

convertUnit() [8/24]

double NAV::convertUnit ( const double & value, Units::VelocityUncertaintyUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 162 of file Units.cpp.

convertUnit() [9/24]

double NAV::convertUnit ( const double & value, Units::VelocityUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 224 of file Units.cpp.

convertUnit() [10/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerFilterBiasUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 379 of file Units.hpp.

convertUnit() [11/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerFilterNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 337 of file Units.hpp.

convertUnit() [12/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerIRWUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 295 of file Units.hpp.

convertUnit() [13/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 253 of file Units.hpp.

convertUnit() [14/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 215 of file Units.hpp.

convertUnit() [15/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeFilterBiasUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 398 of file Units.hpp.

convertUnit() [16/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeFilterNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 356 of file Units.hpp.

convertUnit() [17/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeIRWUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 314 of file Units.hpp.

convertUnit() [18/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 272 of file Units.hpp.

convertUnit() [19/24]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 234 of file Units.hpp.

convertUnit() [20/24]

Eigen::Vector3d NAV::convertUnit ( const Eigen::Vector3d & value, Units::AttitudeUncertaintyUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 206 of file Units.cpp.

convertUnit() [21/24]

Eigen::Vector3d NAV::convertUnit ( const Eigen::Vector3d & value, Units::AttitudeUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 260 of file Units.cpp.

convertUnit() [22/24]

Eigen::Vector3d NAV::convertUnit ( const Eigen::Vector3d & value, Units::PositionUncertaintyUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 148 of file Units.cpp.

convertUnit() [23/24]

Eigen::Vector3d NAV::convertUnit ( const Eigen::Vector3d & value, Units::VelocityUncertaintyUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 175 of file Units.cpp.

convertUnit() [24/24]

Eigen::Vector3d NAV::convertUnit ( const Eigen::Vector3d & value, Units::VelocityUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

Definition at line 235 of file Units.cpp.

create_array()

template<std::size_t N, typename T>

std::array< T, N > NAV::create_array ( const T & value )

constexpr

Create an array with the value assigned to all elements in the container.

Parameters

[in]

value

Value to fill with

Note

See https://stackoverflow.com/a/57757301

Definition at line 42 of file Array.hpp.

CycleSlipDetectorGui()

bool NAV::CycleSlipDetectorGui	(	const char *	label,
		CycleSlipDetector &	cycleSlipDetector,
		float	width = 0.0F,
		bool	dualFrequencyAvailable = true )

Shows a GUI for advanced configuration of the CycleSlipDetector.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	cycleSlipDetector	Reference to the cycle-slip detector to configure
[in]	width	Width of the widget
[in]	dualFrequencyAvailable	Whether dual frequency is available

Definition at line 211 of file CycleSlipDetector.cpp.

deg2rad() [1/2]

template<typename Scalar>

Eigen::Vector3< Scalar > NAV::deg2rad ( const Eigen::Vector3< Scalar > & deg )

inlinenodiscard

Convert Degree to Radians.

Parameters

[in]

deg

Value to convert in [deg]

Returns

The converted value in [rad]

Definition at line 30 of file Units.hpp.

deg2rad() [2/2]

template<class T>

auto NAV::deg2rad ( const T & deg )

nodiscardconstexpr

Convert Degree to Radians.

Parameters

[in]

deg

Value to convert in [deg]

Returns

The converted value in [rad]

Definition at line 21 of file Units.hpp.

doppler2rangeRate()

double NAV::doppler2rangeRate ( double doppler, Frequency freq, int8_t num )

nodiscard

Transforms a doppler-shift into a range-rate.

Parameters

[in]	doppler	The doppler-shift to transform [Hz]
[in]	freq	Frequency
[in]	num	Frequency number. Only used for GLONASS G1 and G2

Returns

The corresponding range-rate [m/s]

Note

See [17] Groves, ch. 9.2.7, eq. 9.70, p. 388

Definition at line 14 of file Functions.cpp.

dscml()

void NAV::dscml	(	double	rlon,
		double	sinml[_361+1],
		double	cosml[_361+1] )

Definition at line 112 of file EGM96.cpp.

e_calcCentrifugalAcceleration()

template<typename DerivedA, typename DerivedB = DerivedA>

Eigen::Vector3< typename DerivedA::Scalar > NAV::e_calcCentrifugalAcceleration ( const Eigen::MatrixBase< DerivedA > & e_position, const Eigen::MatrixBase< DerivedB > & e_omega_ie = InsConst::e_omega_ie )

nodiscard

Calculates the centrifugal acceleration in [m/s^2] (acceleration that makes a body follow a curved path)

Parameters

[in]	e_position	Position in coordinates in [m]
[in]	e_omega_ie	Angular rate of the Earth rotation in [rad/s] in the Earth coordinate frame

Returns

Centrifugal acceleration in the Earth coordinate frame in [m/s^2]

Definition at line 72 of file Functions.hpp.

e_calcCoriolisAcceleration()

template<typename DerivedA, typename DerivedB>

Eigen::Vector3< typename DerivedB::Scalar > NAV::e_calcCoriolisAcceleration ( const Eigen::MatrixBase< DerivedA > & e_omega_ie, const Eigen::MatrixBase< DerivedB > & e_velocity )

nodiscard

Calculates the coriolis acceleration in [m/s^2] (acceleration due to motion in rotating reference frame)

Parameters

[in]	e_omega_ie	ω_ie_e Angular rate of the Earth rotation in [rad/s] in ECEF coordinates
[in]	e_velocity	Velocity in ECEF frame coordinates in [m/s^2]

Returns

Coriolis acceleration in ECEF coordinates in [m/s^2]

Definition at line 107 of file Functions.hpp.

e_calcLineOfSightUnitVector()

template<typename DerivedA, typename DerivedB>

Eigen::Vector3< typename DerivedA::Scalar > NAV::e_calcLineOfSightUnitVector ( const Eigen::MatrixBase< DerivedA > & e_posAnt, const Eigen::MatrixBase< DerivedB > & e_posSat )

nodiscard

Calculates the line-of-sight unit vector from the user antenna to the satellite.

Parameters

[in]	e_posAnt	Position of the user antenna in ECEF frame coordinates
[in]	e_posSat	Position of the satellite in ECEF frame coordinates

Returns

The line-of-sight unit vector in ECEF frame coordinates

Note

See [17] Groves, ch. 8.5.3, eq. 8.41, p. 341

Definition at line 31 of file Functions.hpp.

e_calcPosVelAttDerivative()

template<typename T>

Eigen::Vector< T, 10 > NAV::e_calcPosVelAttDerivative	(	const Eigen::Vector< T, 10 > &	y,
		const Eigen::Vector< T, 6 > &	z,
		const PosVelAttDerivativeConstants &	c,
		double	= 0.0 )

Calculates the derivative of the quaternion, velocity and position in ECEF coordinates.

Parameters

[in]	y	[x, y, z, v_x, v_y, v_z, e_q_bx, e_q_by, e_q_bz, e_q_bw]^T
[in]	z	[fx, fy, fz, ωx, ωy, ωz]^T
[in]	c	Constant values needed to calculate the derivatives

Returns

The derivative ∂/∂t [x, y, z, v_x, v_y, v_z, e_q_bx, e_q_by, e_q_bz, e_q_bw]^T

Definition at line 121 of file Mechanization.hpp.

e_calcTimeDerivativeForPosition()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::e_calcTimeDerivativeForPosition

(

const Eigen::MatrixBase< Derived > &

e_velocity

)

Calculates the time derivative of the ECEF position.

Parameters

[in]

e_velocity

Velocity with respect to the Earth in ECEF frame coordinates [m/s]

Returns

The time derivative of the ECEF position

Note

See Position equation

Definition at line 110 of file Mechanization.hpp.

e_calcTimeDerivativeForVelocity()

template<typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>

Eigen::Vector3< typename DerivedA::Scalar > NAV::e_calcTimeDerivativeForVelocity	(	const Eigen::MatrixBase< DerivedA > &	e_measuredForce,
		const Eigen::MatrixBase< DerivedB > &	e_coriolisAcceleration,
		const Eigen::MatrixBase< DerivedC > &	e_gravitation,
		const Eigen::MatrixBase< DerivedD > &	e_centrifugalAcceleration )

Calculates the time derivative of the velocity in ECEF frame coordinates.

Parameters

[in]	e_measuredForce	f_e Specific force vector as measured by a triad of accelerometers and resolved into ECEF frame coordinates
[in]	e_coriolisAcceleration	Coriolis acceleration in ECEF coordinates in [m/s^2]
[in]	e_gravitation	Local gravitation vector (caused by effects of mass attraction) in ECEF frame coordinates [m/s^2]
[in]	e_centrifugalAcceleration	Centrifugal acceleration in ECEF coordinates in [m/s^2]

Returns

The time derivative of the velocity in ECEF frame coordinates

Note

See Velocity equation

Definition at line 88 of file Mechanization.hpp.

e_F_df_df()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 3, 3 > NAV::e_F_df_df ( const Eigen::MatrixBase< Derived > & beta_a )

nodiscard

Calculates the matrix 𝐅_𝛿f'_𝛿f.

Parameters

[in]

beta_a

Gauss-Markov constant for the accelerometer 𝛽 = 1 / 𝜏 (𝜏 correlation length)

Returns

3x3 matrix in [1 / s]

Note

See T. Hobiger (2021) Inertialnavigation V06 - equation (6.3)

Definition at line 410 of file ErrorEquations.hpp.

e_F_dpsi_dpsi()

template<typename T>

Eigen::Matrix3< T > NAV::e_F_dpsi_dpsi ( const T & omega_ie )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝜓

Parameters

[in]

omega_ie

Angular velocity of the Earth in [rad/s]

Returns

3x3 matrix in [rad / s]

Note

See [17] Groves, ch. 14.2.3, eq. 14.48, p. 583 - 𝐅_11

Definition at line 31 of file ErrorEquations.hpp.

e_F_dpsi_dw()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 3, 3 > NAV::e_F_dpsi_dw ( const Eigen::MatrixBase< Derived > & e_Dcm_b )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝛿ω

Parameters

[in]

e_Dcm_b

DCM from body to Earth frame

Returns

3x3 matrix in [-]

Note

See [17] Groves, ch. 14.2.3, eq. 14.48, p. 583 - 𝐅_15

Definition at line 48 of file ErrorEquations.hpp.

e_F_dq_dGyroBias()

template<typename Derived1, typename Derived2>

Eigen::Matrix< typename Derived2::Scalar, 4, 3 > NAV::e_F_dq_dGyroBias ( const Eigen::QuaternionBase< Derived1 > & b_quat_p, const Eigen::QuaternionBase< Derived2 > & e_quat_b )

nodiscard

Calculate the linearized attitude quaternion differential equation partially derived for the angular rate bias.

Parameters

b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame

Definition at line 281 of file ErrorEquations.hpp.

e_F_dq_dGyroMisalignment()

template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5>

Eigen::Matrix4< typename Derived5::Scalar > NAV::e_F_dq_dGyroMisalignment ( const Eigen::MatrixBase< Derived1 > & p_gyroScale, const Eigen::QuaternionBase< Derived2 > & p_quatGyro_ps, const Eigen::MatrixBase< Derived3 > & ps_omega_ip, const Eigen::QuaternionBase< Derived4 > & b_quat_p, const Eigen::QuaternionBase< Derived5 > & e_quat_b )

nodiscard

Calculate the linearized attitude quaternion differential equation partially derived for the gyroscope misalignment.

Parameters

p_gyroScale	Angular rate scale factor in platform frame coordinates [rad/s]
p_quatGyro_ps	Gyroscope misalignment
ps_omega_ip	Gyroscope measurement [m/s^2]
b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame

Definition at line 338 of file ErrorEquations.hpp.

e_F_dq_dGyroScale()

template<typename Derived1, typename Derived2, typename Derived3, typename Derived4>

Eigen::Matrix< typename Derived4::Scalar, 4, 3 > NAV::e_F_dq_dGyroScale ( const Eigen::QuaternionBase< Derived1 > & p_quatGyro_ps, const Eigen::MatrixBase< Derived2 > & ps_omega_ip, const Eigen::QuaternionBase< Derived3 > & b_quat_p, const Eigen::QuaternionBase< Derived4 > & e_quat_b )

nodiscard

Calculate the linearized attitude quaternion differential equation partially derived for the angular rate scale factor.

Parameters

p_quatGyro_ps	Gyroscope misalignment
ps_omega_ip	Gyroscope measurement [m/s^2]
b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame

Definition at line 321 of file ErrorEquations.hpp.

e_F_dq_dq()

template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5, typename Derived6>

Eigen::Matrix4< typename Derived6::Scalar > NAV::e_F_dq_dq ( const Eigen::MatrixBase< Derived1 > & p_gyroBias, const Eigen::MatrixBase< Derived2 > & p_gyroScale, const Eigen::QuaternionBase< Derived3 > & p_quatGyro_ps, const Eigen::MatrixBase< Derived4 > & ps_omega_ip, const Eigen::QuaternionBase< Derived5 > & b_quat_p, const Eigen::QuaternionBase< Derived6 > & e_quat_b, double omega_ie )

nodiscard

Calculate the linearized attitude quaternion differential equation partially derived for the attitude quaternion.

Parameters

p_gyroBias	Angular rate bias in platform frame coordinates [rad/s]
p_gyroScale	Angular rate scale factor in platform frame coordinates [rad/s]
p_quatGyro_ps	Gyroscope misalignment
ps_omega_ip	Gyroscope measurement [m/s^2]
b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame
omega_ie	Earth rotation rate [rad/s]

Definition at line 240 of file ErrorEquations.hpp.

e_F_dr_dv()

template<typename T>

Eigen::Matrix3< T > NAV::e_F_dr_dv ( )

nodiscard

Calculates the matrix 𝐅_𝛿r'_𝛿v.

Returns

3x3 matrix in [-]

Note

See [17] Groves, ch. 14.2.3, eq. 14.48, p. 583 - 𝐅_32

Definition at line 400 of file ErrorEquations.hpp.

e_F_dv_dAccelBias()

template<typename Derived1, typename Derived2>

Eigen::Matrix< typename Derived2::Scalar, 3, 3 > NAV::e_F_dv_dAccelBias ( const Eigen::QuaternionBase< Derived1 > & b_quat_p, const Eigen::QuaternionBase< Derived2 > & e_quat_b )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝛿f_p.

Parameters

[in]	b_quat_p	Quaternion from IMU platform frame to body frame
[in]	e_quat_b	Quaternion from body to Earth frame

Returns

3x3 matrix in [-]

Definition at line 161 of file ErrorEquations.hpp.

e_F_dv_dAccelMisalignment()

template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5>

Eigen::Matrix< typename Derived5::Scalar, 3, 4 > NAV::e_F_dv_dAccelMisalignment ( const Eigen::MatrixBase< Derived1 > & p_accelScale, const Eigen::QuaternionBase< Derived2 > & p_quatAccel_ps, const Eigen::MatrixBase< Derived3 > & ps_f_ip, const Eigen::QuaternionBase< Derived4 > & b_quat_p, const Eigen::QuaternionBase< Derived5 > & e_quat_b )

nodiscard

Calculate the linearized velocity differential equation partially derived for the accelerometer misalignment.

Parameters

p_accelScale	Acceleration scale factor in platform frame coordinates [m/s^2]
p_quatAccel_ps	Accelerometer misalignment
ps_f_ip	Accelerometer measurement [m/s^2]
b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame

Definition at line 190 of file ErrorEquations.hpp.

e_F_dv_dAccelScale()

template<typename Derived1, typename Derived2, typename Derived3, typename Derived4>

Eigen::Matrix< typename Derived4::Scalar, 3, 3 > NAV::e_F_dv_dAccelScale ( const Eigen::QuaternionBase< Derived1 > & p_quatAccel_ps, const Eigen::MatrixBase< Derived2 > & ps_f_ip, const Eigen::QuaternionBase< Derived3 > & b_quat_p, const Eigen::QuaternionBase< Derived4 > & e_quat_b )

nodiscard

Calculate the linearized velocity differential equation partially derived for the acceleration bias.

Parameters

p_quatAccel_ps	Accelerometer misalignment
ps_f_ip	Accelerometer measurement [m/s^2]
b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame

Definition at line 172 of file ErrorEquations.hpp.

e_F_dv_df_b()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 3, 3 > NAV::e_F_dv_df_b ( const Eigen::MatrixBase< Derived > & e_Dcm_b )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝛿f_b.

Parameters

[in]

e_Dcm_b

DCM from body to Earth frame

Returns

3x3 matrix in [-]

Note

See [17] Groves, ch. 14.2.3, eq. 14.48, p. 583 - 𝐅_24

Definition at line 151 of file ErrorEquations.hpp.

e_F_dv_dpsi()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 3, 3 > NAV::e_F_dv_dpsi ( const Eigen::MatrixBase< Derived > & e_force_ib )

nodiscard

Calculates the matrix 𝐅_𝛿v'_𝜓

Parameters

[in]

e_force_ib

Specific force of the body with respect to inertial frame in [m / s^2], resolved in Earth frame coordinates

Returns

3x3 matrix in [m / s^2]

Note

See [17] Groves, ch. 14.2.3, eq. 14.49, p. 584 - 𝐅_21

Definition at line 58 of file ErrorEquations.hpp.

e_F_dv_dq()

template<typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5, typename Derived6>

Eigen::Matrix< typename Derived6::Scalar, 3, 4 > NAV::e_F_dv_dq	(	const Eigen::MatrixBase< Derived1 > &	p_accelBias,
		const Eigen::MatrixBase< Derived2 > &	p_accelScale,
		const Eigen::QuaternionBase< Derived3 > &	p_quatAccel_ps,
		const Eigen::MatrixBase< Derived4 > &	ps_f_ip,
		const Eigen::QuaternionBase< Derived5 > &	b_quat_p,
		const Eigen::QuaternionBase< Derived6 > &	e_quat_b )

Calculate the linearized velocity differential equation partially derived for the attitude.

Parameters

p_accelBias	Acceleration bias in platform frame coordinates [m/s^2]
p_accelScale	Acceleration scale factor in platform frame coordinates [m/s^2]
p_quatAccel_ps	Accelerometer misalignment
ps_f_ip	Accelerometer measurement [m/s^2]
b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame

Definition at line 116 of file ErrorEquations.hpp.

e_F_dv_dr()

template<typename Derived1, typename Derived2, typename T>

Eigen::Matrix< typename Derived1::Scalar, 3, 3 > NAV::e_F_dv_dr ( const Eigen::MatrixBase< Derived1 > & e_position, const Eigen::MatrixBase< Derived2 > & e_gravitation, const T & r_eS_e, const Eigen::Vector3d & e_omega_ie )

nodiscard

Calculates the matrix 𝐅_𝛿v'_𝛿r.

Parameters

[in]	e_position	Position in ECEF coordinates in [m]
[in]	e_gravitation	Gravitational acceleration in [m/s^2]
[in]	r_eS_e	Geocentric radius. The distance of a point on the Earth's surface from the center of the Earth in [m]
[in]	e_omega_ie	Angular velocity of Earth with respect to inertial system, represented in e-sys in [rad/s]

Returns

3x3 matrix in [1 / s^2]

Note

See [17] Groves, ch. 14.2.3, eq. 14.49, p. 584 - 𝐅_23

Definition at line 95 of file ErrorEquations.hpp.

e_F_dv_dv()

template<typename T>

Eigen::Matrix3< T > NAV::e_F_dv_dv ( double omega_ie )

nodiscard

Calculates the matrix 𝐅_𝛿v'_𝛿v.

Parameters

[in]

omega_ie

omega_ie Angular velocity of the Earth in [rad/s]

Returns

3x3 matrix in [1 / s]

Note

See [17] Groves, ch. 14.2.3, eq. 14.48, p. 583 - 𝐅_22

Definition at line 75 of file ErrorEquations.hpp.

e_F_dw_dw()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 3, 3 > NAV::e_F_dw_dw ( const Eigen::MatrixBase< Derived > & beta_omega )

nodiscard

Calculates the matrix 𝐅_𝛿ω'_𝛿ω

Parameters

[in]

beta_omega

Gauss-Markov constant for the gyroscope 𝛽 = 1 / 𝜏 (𝜏 correlation length)

Returns

3x3 matrix in [1 / s]

Note

See T. Hobiger (2021) Inertialnavigation V06 - equation (6.3)

Definition at line 421 of file ErrorEquations.hpp.

e_noiseInput_G()

template<typename KeyType, typename T>

KeyedMatrixX< T, KeyType, KeyType > NAV::e_noiseInput_G ( const Eigen::Quaterniond & b_quat_p, const Eigen::Quaternion< T > & e_quat_b, bool accelBiases, bool gyroBiases, bool accelScaleFactor, bool gyroScaleFactor, bool accelMisalignment, bool gyroMisalignment )

nodiscard

Calculate the noise input matrix in Earth frame coordinates.

Parameters

b_quat_p	Quaternion from IMU platform frame to body frame
e_quat_b	Quaternion from body to Earth frame
accelBiases	Flag wether to calculate the rows and columns for the acceleration bias
gyroBiases	Flag wether to calculate the rows and columns for the angular rate bias
accelScaleFactor	Flag wether to calculate the rows and columns for the acceleration scale factor
gyroScaleFactor	Flag wether to calculate the rows and columns for the angular rate scale factor
accelMisalignment	Flag wether to calculate the rows and columns for the accelerometer misalignment
gyroMisalignment	Flag wether to calculate the rows and columns for the gyroscope misalignment

Definition at line 228 of file ProcessNoise.hpp.

e_noiseScale_W()

template<typename KeyType, typename T>

KeyedMatrixX< T, KeyType, KeyType > NAV::e_noiseScale_W ( const Eigen::Vector3d & sigma2_ra, const Eigen::Vector3d & sigma2_rg, const Eigen::Vector3d & sigma2_bad, const Eigen::Vector3d & sigma2_bgd, const Eigen::Vector3d & sigma2_sad, const Eigen::Vector3d & sigma2_sgd, bool accelBiases, bool gyroBiases, bool accelScaleFactor, bool gyroScaleFactor )

nodiscard

Calculate the noise scale matrix in Earth frame coordinates.

Parameters

sigma2_ra	𝜎²_ra Variance of the noise on the accelerometer specific-force measurements [m^2 / s^4 / Hz]
sigma2_rg	𝜎²_rg Variance of the noise on the gyro angular-rate measurements [rad^2 / s^2 /Hz]
sigma2_bad	𝜎²_bad Variance of the accelerometer dynamic bias [m^2 / s^4]
sigma2_bgd	𝜎²_bgd Variance of the gyro dynamic bias [rad^2/s^2]
sigma2_sad	𝜎²_sad Variance of the accelerometer dynamic scale factor [-]
sigma2_sgd	𝜎²_sgd Variance of the gyro dynamic scale factor [-]
accelBiases	Flag wether to calculate the rows and columns for the acceleration bias
gyroBiases	Flag wether to calculate the rows and columns for the angular rate bias
accelScaleFactor	Flag wether to calculate the rows and columns for the acceleration scale factor
gyroScaleFactor	Flag wether to calculate the rows and columns for the angular rate scale factor

Definition at line 299 of file ProcessNoise.hpp.

e_systemMatrix_F()

template<typename KeyType, typename T>

KeyedMatrixX< T, KeyType, KeyType > NAV::e_systemMatrix_F ( const Eigen::Vector3d & ps_f_ip, const Eigen::Vector3d & ps_omega_ip, const Eigen::Quaterniond & b_quat_p, const Eigen::Vector3< T > & e_gravitation, const T & r_eS_e, std::optional< double > tau_bad, std::optional< double > tau_bgd, const Eigen::Vector3< T > & e_position, const Eigen::Quaternion< T > & e_quat_b, const Eigen::Vector3< T > & p_accelBias, const Eigen::Vector3< T > & p_gyroBias, const Eigen::Vector3< T > & p_accelScale, const Eigen::Vector3< T > & p_gyroScale, const Eigen::Quaternion< T > & p_quatAccel_ps, const Eigen::Quaternion< T > & p_quatGyro_ps, const PosVelAttDerivativeConstants & config, bool accelBiases, bool gyroBiases, bool accelScaleFactor, bool gyroScaleFactor, bool accelMisalignment, bool gyroMisalignment )

nodiscard

Calculate the linearized system matrix in Earth frame coordinates.

Parameters

ps_f_ip	Accelerometer measurement [m/s^2]
ps_omega_ip	Gyroscope measurement [m/s^2]
b_quat_p	Quaternion from IMU platform frame to body frame
e_gravitation	Gravitation in [m/s^2] in ECEF coordinates
r_eS_e	Geocentric radius in [m]
tau_bad	Correlation length of the accel dynamic bias in [s]
tau_bgd	Correlation length of the gyro dynamic bias in [s]
e_position	Position in ECEF coordinates in [m]
e_quat_b	Quaternion from body to Earth frame
p_accelBias	Acceleration bias in platform frame coordinates [m/s^2]
p_gyroBias	Angular rate bias in platform frame coordinates [rad/s]
p_accelScale	Acceleration scale factor in platform frame coordinates [m/s^2]
p_gyroScale	Angular rate scale factor in platform frame coordinates [rad/s]
p_quatAccel_ps	Accelerometer misalignment
p_quatGyro_ps	Gyroscope misalignment
config	Integration config
accelBiases	Flag wether to calculate the rows and columns for the acceleration bias
gyroBiases	Flag wether to calculate the rows and columns for the angular rate bias
accelScaleFactor	Flag wether to calculate the rows and columns for the acceleration scale factor
gyroScaleFactor	Flag wether to calculate the rows and columns for the angular rate scale factor
accelMisalignment	Flag wether to calculate the rows and columns for the accelerometer misalignment
gyroMisalignment	Flag wether to calculate the rows and columns for the gyroscope misalignment

Definition at line 451 of file ErrorEquations.hpp.

egm96_compute_altitude_offset()

double NAV::egm96_compute_altitude_offset	(	double	lat,
		double	lon )

Compute the geoid undulation from the EGM96 potential coefficient model to The WGS84 ellipsoid.

Parameters

[in]	lat	Latitude in [rad]
[in]	lon	Longitude in [rad]

Returns

The geoid undulation / altitude offset in [m]

Definition at line 272 of file EGM96.cpp.

from_json() [1/44]

void NAV::from_json	(	const json &	j,
		AtmosphereModels &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 554 of file Troposphere.cpp.

from_json() [2/44]

void NAV::from_json	(	const json &	j,
		Code &	data )

Converts the provided json object into a link object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

Definition at line 1194 of file Code.cpp.

from_json() [3/44]

void NAV::from_json	(	const json &	j,
		Colormap &	cmap )

Converts the provided json object into a struct.

Parameters

[in]	j	Json object with the vector values
[out]	cmap	Struct to return

Definition at line 225 of file Colormap.cpp.

from_json() [4/44]

void NAV::from_json	(	const json &	j,
		Combiner::Combination &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 74 of file Combiner.cpp.

from_json() [5/44]

void NAV::from_json	(	const json &	j,
		Combiner::Combination::Term &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 55 of file Combiner.cpp.

from_json() [6/44]

void NAV::from_json	(	const json &	j,
		CycleSlipDetector &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 288 of file CycleSlipDetector.cpp.

from_json() [7/44]

static void NAV::from_json ( const json & j, Demo::DemoData & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 61 of file Demo.cpp.

from_json() [8/44]

void NAV::from_json	(	const json &	j,
		Frequency &	data )

Converts the provided json object into a link object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

Definition at line 501 of file Frequency.cpp.

from_json() [9/44]

void NAV::from_json	(	const json &	j,
		GnssAnalyzer::Combination &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 70 of file GnssAnalyzer.cpp.

from_json() [10/44]

void NAV::from_json	(	const json &	j,
		GnssAnalyzer::Combination::Term &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 45 of file GnssAnalyzer.cpp.

from_json() [11/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 372 of file MeasurementErrors.cpp.

from_json() [12/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersCosineType &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 476 of file MeasurementErrors.cpp.

from_json() [13/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersExponential &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 461 of file MeasurementErrors.cpp.

from_json() [14/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersRtklib &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 434 of file MeasurementErrors.cpp.

from_json() [15/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSine &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 394 of file MeasurementErrors.cpp.

from_json() [16/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSineCN0 &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 420 of file MeasurementErrors.cpp.

from_json() [17/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSineOffset &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 406 of file MeasurementErrors.cpp.

from_json() [18/44]

void NAV::from_json	(	const json &	j,
		GnssMeasurementErrorModel::ModelParametersSineSqrt &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 447 of file MeasurementErrors.cpp.

from_json() [19/44]

void NAV::from_json	(	const json &	j,
		ImuPos &	pos )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	pos	Output object

Definition at line 23 of file ImuPos.cpp.

from_json() [20/44]

void NAV::from_json	(	const json &	j,
		InertialIntegrator &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 444 of file InertialIntegrator.cpp.

from_json() [21/44]

void NAV::from_json	(	const json &	j,
		InputPin &	pin )

Converts the provided json object into a pin object.

Parameters

[in]	j	Json object with the needed values
[out]	pin	Object to fill from the json

Definition at line 472 of file Pin.cpp.

from_json() [22/44]

void NAV::from_json	(	const json &	j,
		InsTime &	insTime )

Converts the provided json object into an InsTime.

Parameters

[in]	j	Json object with the time values
[out]	insTime	Time to return

Definition at line 104 of file InsTime.cpp.

from_json() [23/44]

void NAV::from_json	(	const json &	j,
		LowPassFilter::FilterItem &	data )

Converts the provided json object into a link object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

Definition at line 408 of file LowPassFilter.cpp.

from_json() [24/44]

void NAV::from_json	(	const json &	j,
		Node &	node )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	node	Object to fill from the json

Definition at line 1007 of file Node.cpp.

from_json() [25/44]

void NAV::from_json	(	const json &	j,
		OutputPin &	pin )

Converts the provided json object into a pin object.

Parameters

[in]	j	Json object with the needed values
[out]	pin	Object to fill from the json

Definition at line 459 of file Pin.cpp.

from_json() [26/44]

static void NAV::from_json ( const json & j, PinData & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 68 of file ImuFusion.cpp.

from_json() [27/44]

static void NAV::from_json ( const json & j, PinDataBsplineKF & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 283 of file ImuFusion.cpp.

from_json() [28/44]

static void NAV::from_json ( const json & j, PinDataIRWKF & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 185 of file ImuFusion.cpp.

from_json() [29/44]

static void NAV::from_json ( const json & j, Plot::PinData & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 103 of file Plot.cpp.

from_json() [30/44]

static void NAV::from_json ( const json & j, Plot::PinData::PlotData & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 70 of file Plot.cpp.

from_json() [31/44]

static void NAV::from_json ( const json & j, Plot::PlotInfo & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 178 of file Plot.cpp.

from_json() [32/44]

static void NAV::from_json ( const json & j, Plot::PlotInfo::PlotItem & data )

static

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 139 of file Plot.cpp.

from_json() [33/44]

void NAV::from_json	(	const json &	j,
		PlotItemStyle &	style )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	style	Output object

Definition at line 64 of file PlotItemStyle.cpp.

from_json() [34/44]

template<typename Key>

void NAV::from_json	(	const json &	j,
		PolynomialCycleSlipDetector< Key > &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 306 of file PolynomialCycleSlipDetector.hpp.

from_json() [35/44]

template<typename Scalar = double>

void NAV::from_json	(	const json &	j,
		PolynomialRegressor< Scalar > &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 250 of file PolynomialRegressor.hpp.

from_json() [36/44]

void NAV::from_json	(	const json &	j,
		PosVelAttDerivativeConstants &	data )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 25 of file Mechanization.cpp.

from_json() [37/44]

void NAV::from_json	(	const json &	j,
		RandomNumberGenerator &	rng )

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	rng	Output object

Definition at line 26 of file RandomNumberGenerator.cpp.

from_json() [38/44]

void NAV::from_json	(	const json &	j,
		SatelliteSystem &	data )

Converts the provided json object into a link object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

Definition at line 315 of file SatelliteSystem.cpp.

from_json() [39/44]

void NAV::from_json	(	const json &	j,
		SatId &	data )

Converts the provided json object into a link object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

Definition at line 66 of file SatelliteIdentifier.cpp.

from_json() [40/44]

void NAV::from_json	(	const json &	j,
		SatSigId &	data )

Converts the provided json object into a link object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

Definition at line 79 of file SatelliteIdentifier.cpp.

from_json() [41/44]

void NAV::from_json	(	const json &	j,
		SNRMask &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 208 of file SNRMask.cpp.

from_json() [42/44]

void NAV::from_json	(	const json &	j,
		TemperatureModel &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 91 of file Temperature.cpp.

from_json() [43/44]

void NAV::from_json	(	const json &	j,
		TimeSystem &	timeSystem )

Converts the provided json object into a TimeSystem.

Parameters

[in]	j	Json object with the time system
[out]	timeSystem	TimeSystem to return

Definition at line 39 of file TimeSystem.cpp.

from_json() [44/44]

void NAV::from_json	(	const json &	j,
		TroposphereModelSelection &	obj )

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

Definition at line 571 of file Troposphere.cpp.

G_GaussMarkov1()

Eigen::Matrix3d NAV::G_GaussMarkov1	(	const Eigen::Vector3d &	sigma2,
		const Eigen::Vector3d &	beta )

Submatrix 𝐆_a of the noise input matrix 𝐆

Parameters

[in]	sigma2	Variance of the noise on the measurements
[in]	beta	Gauss-Markov constant 𝛽 = 1 / 𝜏 (𝜏 correlation length)

Note

See T. Hobiger (2021) Inertialnavigation V06 - equation (6.3)

Definition at line 23 of file ProcessNoise.cpp.

G_RandomWalk()

Eigen::Matrix3d NAV::G_RandomWalk

(

const Eigen::Vector3d &

sigma2

)

Random walk noise input matrix 𝐆

Parameters

[in]

sigma2

Variance of the noise on the measurements

Note

See T. Hobiger (2021) Inertialnavigation V06 - equation (6.3)

Definition at line 16 of file ProcessNoise.cpp.

galSisaIdx2Val()

double NAV::galSisaIdx2Val ( uint8_t idx )

nodiscard

Converts a GALILEO SISA (Signal in space accuracy) index to it's value.

Parameters

[in]

idx

The SISA index

Returns

SISA value in [m]

Note

See [13] GAL ICD ch. 5.1.12, p.58

Definition at line 38 of file Functions.cpp.

galSisaVal2Idx()

uint8_t NAV::galSisaVal2Idx ( double val )

nodiscard

Converts a GALILEO SISA (Signal in space accuracy) value to it's index.

Parameters

[in]

val

SISA value in [m]

Returns

The SISA index

Note

See [13] GAL ICD ch. 5.1.12, p.58

Definition at line 29 of file Functions.cpp.

genRangeArray()

template<size_t N, typename Scalar>

std::array< Scalar, N > NAV::genRangeArray ( Scalar start, Scalar stepSize, Scalar end )

constexpr

Returns a container filled with the given range.

Parameters

start	Inclusive start value of the range
stepSize	Step size of the range
end	Exclusive end value of the range

Definition at line 52 of file Array.hpp.

genRangeVector()

template<typename Scalar>

std::vector< Scalar > NAV::genRangeVector	(	Scalar	start,
		Scalar	stepSize,
		Scalar	end )

Returns a container filled with the given range.

Parameters

start	Inclusive start value of the range
stepSize	Step size of the range
end	Exclusive end value of the range

Definition at line 46 of file Vector.hpp.

gpsUraIdx2Val()

double NAV::gpsUraIdx2Val ( uint8_t idx )

nodiscard

Converts a GPS URA (user range accuracy) index to it's value.

Parameters

[in]

idx

The URA index

Returns

URA value in [m]

Note

See [21] GPS ICD ch. 20.3.3.3.1.3, p.92ff

Definition at line 54 of file Functions.cpp.

gpsUraVal2Idx()

uint8_t NAV::gpsUraVal2Idx ( double val )

nodiscard

Converts a GPS URA (user range accuracy) value to it's index.

Parameters

[in]

val

URA value in [m]

Returns

The URA index

Note

See [21] GPS ICD ch. 20.3.3.3.1.3, p.92ff

Definition at line 47 of file Functions.cpp.

GPT2_param()

GPT2output NAV::GPT2_param	(	const double &	mjd,
		const Eigen::Vector3d &	lla_pos )

Determine pressure, temperature, temperature lapse rate, mean temperature of the water vapor, water vapor pressure, hydrostatic and wet mapping function coefficients ah and aw, water vapour decrease factor and geoid undulation for specific sites near the Earth surface, based on a 1 x 1 degree GPT2 grid.

Parameters

[in]	mjd	modified Julian date
[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]

Note

See [9] Böhm2015

Definition at line 22 of file GPT.cpp.

GPT3_param()

GPT3output NAV::GPT3_param	(	const double &	mjd,
		const Eigen::Vector3d &	lla_pos )

Determine pressure, temperature, temperature lapse rate, mean temperature of the water vapor, water vapour pressure, hydrostatic and wet mapping function coefficients ah and aw, water vapour decrease factor, geoid undulation and empirical tropospheric gradients for specific sites near the earth's surface, based on a 1 x 1 degree GPT3 grid.

Parameters

[in]	mjd	modified Julian date
[in]	lla_pos	[𝜙, λ, h]^T Geodetic latitude, longitude and height in [rad, rad, m]

Note

See [29] Landskron2018

Definition at line 254 of file GPT.cpp.

Heun2()

template<typename Y, typename Z, std::floating_point Scalar>

Y NAV::Heun2	(	const Y &	y_n,
		const std::array< Z, 2 > &	z,
		const Scalar &	h,
		const auto &	f,
		const auto &	constParam,
		const Scalar &	t_n = 0 )

Heun's method (2nd order) (explicit) .

Butcher tableau:

Parameters

[in]	y_n	State vector at time t_n
[in]	z	Array of measurements, one for each evaluation point of the Runge Kutta
[in]	h	Integration step in [s]
[in]	f	Time derivative function
[in]	constParam	Constant parameters passed to each time derivative function call
[in]	t_n	Time t_n

Definition at line 233 of file NumericalIntegration.hpp.

Heun3()

template<typename Y, typename Z, std::floating_point Scalar>

Y NAV::Heun3	(	const Y &	y_n,
		const std::array< Z, 3 > &	z,
		const Scalar &	h,
		const auto &	f,
		const auto &	constParam,
		const Scalar &	t_n = 0 )

Heun's method (3nd order) (explicit) .

Butcher tableau:

Parameters

[in]	y_n	State vector at time t_n
[in]	z	Array of measurements, one for each evaluation point of the Runge Kutta
[in]	h	Integration step in [s]
[in]	f	Time derivative function
[in]	constParam	Constant parameters passed to each time derivative function call
[in]	t_n	Time t_n

Definition at line 295 of file NumericalIntegration.hpp.

hundu()

double NAV::hundu	(	double	p[_coeffs+1],
		double	sinml[_361+1],
		double	cosml[_361+1],
		double	gr,
		double	re )

Definition at line 71 of file EGM96.cpp.

ie_Q_dr_df()

Eigen::Matrix3d NAV::ie_Q_dr_df ( const Eigen::Vector3d & S_bad, const Eigen::Matrix3d & ie_Dcm_b, const double & tau_s )

nodiscard

Submatrix 𝐐_34 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	ie_Dcm_b	Direction Cosine Matrix from body to {i,e} coordinates
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_34

Note

See Groves (2013) equation (14.81)

Definition at line 95 of file ProcessNoise.cpp.

ie_Q_dr_domega()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_35 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	ie_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	ie_Dcm_b	Direction Cosine Matrix from body to {i,e} coordinates
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_35

Note

See Groves (2013) equation (14.81)

Definition at line 105 of file ProcessNoise.cpp.

ie_Q_dr_dr()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_33 of the system noise covariance matrix 𝐐

Parameters

[in]	S_ra	Power Spectral Density of the accelerometer random noise
[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	ie_F_21	Submatrix 𝐅_21 of the system matrix 𝐅 in {i,e} frame
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_33

Note

See Groves (2013) equation (14.81)

Definition at line 84 of file ProcessNoise.cpp.

ie_Q_dr_dv()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_32 of the system noise covariance matrix 𝐐

Parameters

[in]	S_ra	Power Spectral Density of the accelerometer random noise
[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	ie_F_21	Submatrix 𝐅_21 of the system matrix 𝐅 in {i,e} frame
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_32

Note

See Groves (2013) equation (14.81)

Definition at line 72 of file ProcessNoise.cpp.

ie_Q_dr_psi()

Eigen::Matrix3d NAV::ie_Q_dr_psi ( const Eigen::Vector3d & S_rg, const Eigen::Vector3d & S_bgd, const Eigen::Matrix3d & ie_F_21, const double & tau_s )

nodiscard

Submatrix 𝐐_31 of the system noise covariance matrix 𝐐

Parameters

[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	ie_F_21	Submatrix 𝐅_21 of the system matrix 𝐅 in {i,e} frame
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_31

Note

See Groves (2013) equation (14.81)

Definition at line 61 of file ProcessNoise.cpp.

ien_Q_dv_domega()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_25 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	ien_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	ien_Dcm_b	Direction Cosine Matrix from body to {i,e,n} frame
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_25

Note

See Groves (2013) equation (14.80)

Definition at line 51 of file ProcessNoise.cpp.

ien_Q_dv_dv()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_22 of the system noise covariance matrix 𝐐

Parameters

[in]	S_ra	Power Spectral Density of the accelerometer random noise
[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	ien_F_21	Submatrix 𝐅_21 of the system matrix 𝐅 in {i,e,n} frame
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_22

Note

See Groves (2013) equation (14.81)

Definition at line 45 of file ProcessNoise.cpp.

ien_Q_dv_psi()

Eigen::Matrix3d NAV::ien_Q_dv_psi ( const Eigen::Vector3d & S_rg, const Eigen::Vector3d & S_bgd, const Eigen::Matrix3d & ien_F_21, const double & tau_s )

nodiscard

Submatrix 𝐐_21 of the system noise covariance matrix 𝐐

Parameters

[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	ien_F_21	Submatrix 𝐅_21 of the system matrix 𝐅 in {i,e,n} frame
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_21

Note

See Groves (2013) equation (14.81)

Definition at line 40 of file ProcessNoise.cpp.

InertialIntegratorGui()

bool NAV::InertialIntegratorGui	(	const char *	label,
		InertialIntegrator &	integrator,
		bool &	preferAccelerationOverDeltaMeasurements,
		float	width = 250.0F )

Shows a GUI for advanced configuration of the InertialIntegrator.

Parameters

[in]	label	Label to show. This has to be a unique id for ImGui.
[in]	integrator	Reference to the integrator to configure
[in]	preferAccelerationOverDeltaMeasurements	Wether to prefer accelerations over delta measurements
[in]	width	Width of the widget

Definition at line 333 of file InertialIntegrator.cpp.

ionoErrorVar()

double NAV::ionoErrorVar	(	double	dpsr_I,
		Frequency	freq,
		int8_t	num )

Calculates the ionospheric error variance.

Parameters

[in]	dpsr_I	Ionosphere propagation error [m]
[in]	freq	Frequency
[in]	num	Frequency number. Only used for GLONASS G1 and G2

Returns

Variance of the error [m^2]

Definition at line 81 of file Ionosphere.cpp.

joinToString()

template<typename T>

std::string NAV::joinToString	(	const T &	container,
		const char *	delimiter = ", ",
		const std::string &	elementFormat = "" )

Joins the container to a string.

Parameters

[in]	container	Container to join
[in]	delimiter	Delimiter to use to concatenate the elements
[in]	elementFormat	fmt format string, which gets places inside '{}' to format the elements

Definition at line 30 of file STL.hpp.

joinToStringCustom()

template<typename T, typename U>

std::string NAV::joinToStringCustom	(	const T &	container,
		U &&	formatFunc,
		const char *	delimiter = ", " )

Joins the container to a string.

Parameters

[in]	container	Container to join
[in]	formatFunc	Function to evaluate for each element to get the string representation
[in]	delimiter	Delimiter to use to concatenate the elements

Definition at line 44 of file STL.hpp.

legfdn()

void NAV::legfdn	(	unsigned	m,
		double	theta,
		double	rleg[_361+1] )

Parameters

m	: order.
theta	: Colatitude (radians).
rleg	: Normalized legendre function.

This subroutine computes all normalized legendre function in 'rleg'. The dimensions of array 'rleg' must be at least equal to nmax+1. All calculations are in double precision.

Original programmer: Oscar L. Colombo, Dept. of Geodetic Science the Ohio State University, August 1980. ineiev: I removed the derivatives, for they are never computed here.

Definition at line 141 of file EGM96.cpp.

lessCompareSatSigId()

bool NAV::lessCompareSatSigId	(	const std::string &	lhs,
		const std::string &	rhs )

Less than comparison from string representation.

Parameters

[in]	lhs	Left hand side of the operator
[in]	rhs	Right hand side of the operator

Returns

True if lhs < rhs

Definition at line 41 of file SatelliteIdentifier.cpp.

lla_calcTimeDerivativeForPosition()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::lla_calcTimeDerivativeForPosition	(	const Eigen::MatrixBase< Derived > &	n_velocity,
		const auto &	phi,
		const auto &	h,
		const auto &	R_N,
		const auto &	R_E )

Calculates the time derivative of the curvilinear position.

Parameters

[in]	n_velocity	[v_N v_E v_D]^T Velocity with respect to the Earth in local-navigation frame coordinates [m/s]
[in]	phi	ϕ Latitude [rad]
[in]	h	Altitude above the ellipsoid [m]
[in]	R_N	North/South (meridian) earth radius [m]
[in]	R_E	East/West (prime vertical) earth radius [m]

Returns

The time derivative of the curvilinear position

Note

See Position equation

Definition at line 119 of file Mechanization.hpp.

loadImPlotStyleFromConfigFile()

void NAV::loadImPlotStyleFromConfigFile	(	const char *	path,
		ImPlotStyle &	imPlotStyle )

Loads the ImPlotStyle from a json file.

Parameters

[in]	path	Path of the file
[out]	imPlotStyle	Object to fill

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/.

Definition at line 28 of file ImPlot.cpp.

MakeComboItems()

template<typename T>

std::string NAV::MakeComboItems ( )

nodiscard

Units separated by '\0' and terminated by double '\0'.

Definition at line 28 of file InputWithUnit.hpp.

mjd2doy()

double NAV::mjd2doy

(

const double &

mjd

)

To calculate the day of year.

Parameters

[in]

mjd

the Modified Julien Date

Returns

the day of year

Definition at line 527 of file GPT.cpp.

move()

template<typename T>

void NAV::move	(	std::vector< T > &	v,
		size_t	sourceIdx,
		size_t	targetIdx )

Moves an element within a vector to a new position.

Parameters

[in,out]	v	Vector with the elements
[in]	sourceIdx	Old index which will be moved
[in]	targetIdx	New index which is the target

Definition at line 27 of file Vector.hpp.

n_calcCoriolisAcceleration()

template<typename DerivedA, typename DerivedB, typename DerivedC>

Eigen::Vector3< typename DerivedA::Scalar > NAV::n_calcCoriolisAcceleration ( const Eigen::MatrixBase< DerivedA > & n_omega_ie, const Eigen::MatrixBase< DerivedB > & n_omega_en, const Eigen::MatrixBase< DerivedC > & n_velocity )

nodiscard

Calculates the coriolis acceleration in [m/s^2] (acceleration due to motion in rotating reference frame)

Parameters

[in]	n_omega_ie	ω_ie_n Angular rate of the Earth rotation in [rad/s] in local-navigation coordinates
[in]	n_omega_en	ω_en_n Transport rate in [rad/s] in local-navigation coordinates
[in]	n_velocity	Velocity in local-navigation frame coordinates in [m/s^2]

Returns

Coriolis acceleration in local-navigation coordinates in [m/s^2]

Definition at line 90 of file Functions.hpp.

n_calcGravitation()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::n_calcGravitation ( const Eigen::MatrixBase< Derived > & lla_position, GravitationModel gravitationModel = GravitationModel::EGM96 )

nodiscard

Calculates the gravitation (acceleration due to mass attraction of the Earth)

Parameters

[in]	lla_position	[ϕ, λ, h] Latitude, Longitude, Altitude in [rad, rad, m]
[in]	gravitationModel	Gravitation model to use

Returns

Gravitation vector in local-navigation frame coordinates in [m/s^2]

Definition at line 193 of file Gravity.hpp.

n_calcGravitation_EGM96()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::n_calcGravitation_EGM96 ( const Eigen::MatrixBase< Derived > & lla_position, size_t ndegree = 10 )

nodiscard

Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using the EGM96 spherical harmonic model (up to order 10)

Parameters

[in]	lla_position	[ϕ, λ, h] Latitude, Longitude, Altitude in [rad, rad, m]
[in]	ndegree	Degree of the EGM96 (1 <= ndegree <= 10)

Returns

Gravitation vector in local-navigation frame coordinates in [m/s^2]

Note

See Groves (2013) Chapter 2.4.3 and 'GUT User Guide' (2018) Chapter 7.4

Definition at line 128 of file Gravity.hpp.

n_calcGravitation_SomiglianaAltitude()

template<typename T>

Eigen::Vector3< T > NAV::n_calcGravitation_SomiglianaAltitude ( const T & latitude, const T & altitude )

nodiscard

Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using the Somigliana model and makes corrections for altitude.

Parameters

[in]	latitude	Latitude in [rad]
[in]	altitude	Altitude in [m]

Returns

Gravitation vector in local-navigation frame coordinates in [m/s^2]

Note

See S. Gleason (2009) - GNSS Applications and Methods (Chapter 6.2.3.2 - eq. 6.16)

Definition at line 57 of file Gravity.hpp.

n_calcGravitation_WGS84()

template<typename T>

Eigen::Vector3< T > NAV::n_calcGravitation_WGS84 ( const T & latitude, const T & altitude )

nodiscard

Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using gravity as derived from the gravity potential.

Parameters

[in]	latitude	Latitude in [rad]
[in]	altitude	Altitude in [m]

Returns

Gravitation vector in local-navigation frame coordinates in [m/s^2]

Note

See 'INS-Projects/INSTINCT/SpecificLiterature/GravityPotentialWGS84' in NC folder (eq. (3) derived after 'r')

Definition at line 105 of file Gravity.hpp.

n_calcGravitation_WGS84_Skydel()

template<typename T>

Eigen::Vector3< T > NAV::n_calcGravitation_WGS84_Skydel ( const T & latitude, const T & altitude )

nodiscard

Calculates the gravitation (acceleration due to mass attraction of the Earth) at the WGS84 reference ellipsoid using gravity as derived from the gravity potential. However, the north component of the centrifugal acceleration is neglected in order to match the implementation of Skydel's 'ImuPlugin'.

Parameters

[in]	latitude	Latitude in [rad]
[in]	altitude	Altitude in [m]

Returns

Gravitation vector in local-navigation frame coordinates in [m/s^2]

Note

See Skydel API plug-in 'skydel_plugin/source/library/inertial_math/Sources/source/gravity.cpp'

Definition at line 82 of file Gravity.hpp.

n_calcPosVelAttDerivative()

template<typename T>

Eigen::Vector< T, 10 > NAV::n_calcPosVelAttDerivative	(	const Eigen::Vector< T, 10 > &	y,
		const Eigen::Vector< T, 6 > &	z,
		const PosVelAttDerivativeConstants &	c,
		double	= 0.0 )

Calculates the derivative of the quaternion, velocity and curvilinear position.

Parameters

[in]	y	[ 𝜙, λ, h, v_N, v_E, v_D, n_q_bx, n_q_by, n_q_bz, n_q_bw]^T
[in]	z	[fx, fy, fz, ωx, ωy, ωz]^T
[in]	c	Constant values needed to calculate the derivatives

Returns

The derivative ∂/∂t [ 𝜙, λ, h, v_N, v_E, v_D, n_q_bx, n_q_by, n_q_bz, n_q_bw]^T

Definition at line 141 of file Mechanization.hpp.

n_calcTimeDerivativeForVelocity()

template<typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>

Eigen::Vector3< typename DerivedA::Scalar > NAV::n_calcTimeDerivativeForVelocity	(	const Eigen::MatrixBase< DerivedA > &	n_measuredForce,
		const Eigen::MatrixBase< DerivedB > &	n_coriolisAcceleration,
		const Eigen::MatrixBase< DerivedC > &	n_gravitation,
		const Eigen::MatrixBase< DerivedD > &	n_centrifugalAcceleration )

Calculates the time derivative of the velocity in local-navigation frame coordinates.

Parameters

[in]	n_measuredForce	f_n = [f_N f_E f_D]^T Specific force vector as measured by a triad of accelerometers and resolved into local-navigation frame coordinates
[in]	n_coriolisAcceleration	Coriolis acceleration in local-navigation coordinates in [m/s^2]
[in]	n_gravitation	Local gravitation vector (caused by effects of mass attraction) in local-navigation frame coordinates [m/s^2]
[in]	n_centrifugalAcceleration	Centrifugal acceleration in local-navigation coordinates in [m/s^2]

Returns

The time derivative of the velocity in local-navigation frame coordinates

Note

See Velocity equation

Definition at line 89 of file Mechanization.hpp.

n_calcTransportRate()

template<typename DerivedA, typename DerivedB>

Eigen::Vector3< typename DerivedA::Scalar > NAV::n_calcTransportRate ( const Eigen::MatrixBase< DerivedA > & lla_position, const Eigen::MatrixBase< DerivedB > & n_velocity, const auto & R_N, const auto & R_E )

nodiscard

Calculates the transport rate ω_en_n (rotation rate of the Earth frame relative to the navigation frame)

Parameters

[in]	lla_position	[𝜙, λ, h] Latitude, Longitude and altitude in [rad, rad, m]
[in]	n_velocity	Velocity in [m/s], in navigation coordinate
[in]	R_N	North/South (meridian) earth radius [m]
[in]	R_E	East/West (prime vertical) earth radius [m]

Returns

ω_en_n Transport Rate in local-navigation coordinates in [rad/s]

Note

See [17] Groves, ch. 5.4.1, eq. 5.44, p. 177

See [14] Gleason, ch. 6.2.3.2, eq. 6.15, p. 155

See [47] Titterton, ch. 3.7.2, eq. 3.87, p. 50 (mistake in denominator 3rd term)

Definition at line 39 of file Functions.hpp.

n_F_df_df()

Eigen::Matrix3d NAV::n_F_df_df ( const Eigen::Vector3d & beta_a )

nodiscard

Calculates the matrix 𝐅_𝛿f'_𝛿f.

Parameters

[in]

beta_a

Gauss-Markov constant for the accelerometer 𝛽 = 1 / 𝜏 (𝜏 correlation length)

Returns

3x3 matrix in [1 / s]

Note

See T. Hobiger (2021) Inertialnavigation V06 - equation (6.3)

Definition at line 166 of file ErrorEquations.cpp.

n_F_dpsi_dpsi()

Eigen::Matrix3d NAV::n_F_dpsi_dpsi ( const Eigen::Vector3d & n_omega_in )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝜓

Parameters

[in]

n_omega_in

Angular rate vector of the n-system with respect to the i-system in [rad / s], resolved in the n-system

Returns

3x3 matrix in [rad / s]

Note

See [17] Groves, ch. 14.2.4, eq. 14.64, p. 587 - 𝐅_11

See T. Hobiger (2021) Inertialnavigation V07 - equation (7.22)

Definition at line 16 of file ErrorEquations.cpp.

n_F_dpsi_dr()

Eigen::Matrix3d NAV::n_F_dpsi_dr ( double latitude, double height, const Eigen::Vector3d & n_velocity, double R_N, double R_E )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝛿r.

Parameters

[in]	latitude	Geodetic latitude of the body in [rad]
[in]	height	Geodetic height of the body in [m]
[in]	n_velocity	Velocity of the body with respect to the e-system in [m / s], resolved in the n-system
[in]	R_N	North/South (meridian) earth radius in [m]
[in]	R_E	East/West (prime vertical) earth radius in [m]

Returns

3x3 matrix in [rad / s] for latitude and [1 / (m · s)] for height

Note

See [17] Groves, ch. 14.2.4, eq. 14.66, p. 587 - 𝐅_13

See T. Hobiger (2021) Inertialnavigation V07 - equation (7.21)

Definition at line 40 of file ErrorEquations.cpp.

n_F_dpsi_dv()

Eigen::Matrix3d NAV::n_F_dpsi_dv ( double latitude, double height, double R_N, double R_E )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝛿v.

Parameters

[in]	latitude	Geodetic latitude of the body in [rad]
[in]	height	Geodetic height of the body in [m]
[in]	R_N	North/South (meridian) earth radius in [m]
[in]	R_E	East/West (prime vertical) earth radius in [m]

Returns

3x3 matrix in [1 / m]

Note

See [17] Groves, ch. 14.2.4, eq. 14.65, p. 587 - 𝐅_12

See T. Hobiger (2021) Inertialnavigation V07 - equation (7.21)

Definition at line 28 of file ErrorEquations.cpp.

n_F_dpsi_dw()

Eigen::Matrix3d NAV::n_F_dpsi_dw ( const Eigen::Matrix3d & n_Dcm_b )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝛿ω

Parameters

[in]

n_Dcm_b

DCM from body to navigation frame

Returns

3x3 matrix in [-]

Note

See [17] Groves, ch. 14.2.4, eq. 14.63, p. 587 - 𝐅_15

Definition at line 58 of file ErrorEquations.cpp.

n_F_dr_dr()

Eigen::Matrix3d NAV::n_F_dr_dr ( const Eigen::Vector3d & n_velocity, double latitude, double height, double R_N, double R_E )

nodiscard

Calculates the matrix 𝐅_𝛿r'_𝛿r.

Parameters

[in]	n_velocity	Velocity of the body with respect to the e-system in [m / s], resolved in the n-system
[in]	latitude	Geodetic latitude of the body in [rad]
[in]	height	Geodetic height of the body in [m]
[in]	R_N	North/South (meridian) earth radius in [m]
[in]	R_E	East/West (prime vertical) earth radius in [m]

Returns

3x3 matrix in [1 / s] for latitude and [1 / (m · s)] for height

Note

See [17] Groves, ch. 14.2.4, eq. 14.71, p. 588 - 𝐅_33

See T. Hobiger (2021) Inertialnavigation V07 - equation (7.5)

Definition at line 151 of file ErrorEquations.cpp.

n_F_dr_dv()

Eigen::Matrix3d NAV::n_F_dr_dv ( double latitude, double height, double R_N, double R_E )

nodiscard

Calculates the matrix 𝐅_𝛿r'_𝛿v.

Parameters

[in]	latitude	Geodetic latitude of the body in [rad]
[in]	height	Geodetic height of the body in [m]
[in]	R_N	North/South (meridian) earth radius in [m]
[in]	R_E	East/West (prime vertical) earth radius in [m]

Returns

3x3 matrix in [1 / m] for latitude and longitude and [-] for height

Note

See [17] Groves, ch. 14.2.4, eq. 14.70, p. 588 - 𝐅_32

See T. Hobiger (2021) Inertialnavigation V07 - equation (7.5)

Definition at line 140 of file ErrorEquations.cpp.

n_F_dv_df()

Eigen::Matrix3d NAV::n_F_dv_df ( const Eigen::Matrix3d & n_Dcm_b )

nodiscard

Calculates the matrix 𝐅_𝜓'_𝛿f.

Parameters

[in]

n_Dcm_b

DCM from body to navigation frame

Returns

3x3 matrix in [-]

Note

See [17] Groves, ch. 14.2.4, eq. 14.63, p. 587 - 𝐅_24

Definition at line 135 of file ErrorEquations.cpp.

n_F_dv_dpsi()

Eigen::Matrix3d NAV::n_F_dv_dpsi ( const Eigen::Vector3d & n_force_ib )

nodiscard

Calculates the matrix 𝐅_𝛿v'_𝜓

Parameters

[in]

n_force_ib

Specific force of the body with respect to inertial frame in [m / s^2], resolved in local navigation frame coordinates

Returns

3x3 matrix in [m / s^2]

Note

See [17] Groves, ch. 14.2.4, eq. 14.67, p. 587 - 𝐅_21

See T. Hobiger (2021) Inertialnavigation V08 - equation (8.4)

Definition at line 63 of file ErrorEquations.cpp.

n_F_dv_dr()

Eigen::Matrix3d NAV::n_F_dv_dr ( const Eigen::Vector3d & n_velocity, double latitude, double height, double R_N, double R_E, double g_0, double r_eS_e )

nodiscard

Calculates the matrix 𝐅_𝛿v'_𝛿r.

Parameters

[in]	n_velocity	Velocity of the body with respect to the e-system in [m / s], resolved in the n-system
[in]	latitude	Geodetic latitude of the body in [rad]
[in]	height	Geodetic height of the body in [m]
[in]	R_N	North/South (meridian) earth radius in [m]
[in]	R_E	East/West (prime vertical) earth radius in [m]
[in]	g_0	Magnitude of the gravity vector in [m/s^2] (see [17] Groves, ch. 2.4.7, eq. 2.135, p. 70)
[in]	r_eS_e	Geocentric radius. The distance of a point on the Earth's surface from the center of the Earth in [m]

Returns

3x3 matrix in [m / s^2] for latitude and [1 / s^2] for height

Note

See [17] Groves, ch. 14.2.4, eq. 14.69, p. 588 - 𝐅_23

See T. Hobiger (2021) Inertialnavigation V08 - equation (8.14, 8.16)

Definition at line 105 of file ErrorEquations.cpp.

n_F_dv_dv()

Eigen::Matrix3d NAV::n_F_dv_dv ( const Eigen::Vector3d & n_velocity, double latitude, double height, double R_N, double R_E )

nodiscard

Calculates the matrix 𝐅_𝛿v'_𝛿v.

Parameters

[in]	n_velocity	Velocity of the body with respect to the e-system in [m / s], resolved in the n-system
[in]	latitude	Geodetic latitude of the body in [rad]
[in]	height	Geodetic height of the body in [m]
[in]	R_N	North/South (meridian) earth radius in [m]
[in]	R_E	East/West (prime vertical) earth radius in [m]

Returns

3x3 matrix in [1 / s]

Note

See [17] Groves, ch. 14.2.4, eq. 14.68, p. 587 - 𝐅_22

See T. Hobiger (2021) Inertialnavigation V08 - equation (8.6, 8.15)

Definition at line 80 of file ErrorEquations.cpp.

n_F_dw_dw()

Eigen::Matrix3d NAV::n_F_dw_dw ( const Eigen::Vector3d & beta_omega )

nodiscard

Calculates the matrix 𝐅_𝛿ω'_𝛿ω

Parameters

[in]

beta_omega

Gauss-Markov constant for the gyroscope 𝛽 = 1 / 𝜏 (𝜏 correlation length)

Returns

3x3 matrix in [1 / s]

Note

See T. Hobiger (2021) Inertialnavigation V06 - equation (6.3)

Definition at line 172 of file ErrorEquations.cpp.

n_Q_dr_df()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_34 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	n_Dcm_b	Direction Cosine Matrix from body to navigation coordinates
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_34

Note

See Groves (2013) equation (14.81)

Definition at line 90 of file ProcessNoise.cpp.

n_Q_dr_domega()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_35 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	n_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	n_Dcm_b	Direction Cosine Matrix from body to navigation coordinates
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_35

Note

See Groves (2013) equation (14.81)

Definition at line 100 of file ProcessNoise.cpp.

n_Q_dr_dr()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_33 of the system noise covariance matrix 𝐐

Parameters

[in]	S_ra	Power Spectral Density of the accelerometer random noise
[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	n_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_33

Note

See Groves (2013) equation (14.81)

Definition at line 78 of file ProcessNoise.cpp.

n_Q_dr_dv()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_32 of the system noise covariance matrix 𝐐

Parameters

[in]	S_ra	Power Spectral Density of the accelerometer random noise
[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	n_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_32

Note

See Groves (2013) equation (14.81)

Definition at line 66 of file ProcessNoise.cpp.

n_Q_dr_psi()

Eigen::Matrix3d NAV::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 )

nodiscard

Submatrix 𝐐_31 of the system noise covariance matrix 𝐐

Parameters

[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	n_F_21	Submatrix 𝐅_21 of the system matrix 𝐅
[in]	T_rn_p	Conversion matrix between cartesian and curvilinear perturbations to the position
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_31

Note

See Groves (2013) equation (14.81)

Definition at line 56 of file ProcessNoise.cpp.

operator!=() [1/21]

bool NAV::operator!=	(	const Code &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 752 of file Code.cpp.

operator!=() [2/21]

bool NAV::operator!=	(	const Code &	lhs,
		const Code::Enum &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 757 of file Code.cpp.

operator!=() [3/21]

bool NAV::operator!=	(	const Code::Enum &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 762 of file Code.cpp.

operator!=() [4/21]

bool NAV::operator!= ( const Frequency & lhs, const Frequency & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 410 of file Frequency.hpp.

operator!=() [5/21]

bool NAV::operator!= ( const Frequency & lhs, const Frequency_ & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 415 of file Frequency.hpp.

operator!=() [6/21]

bool NAV::operator!= ( const Frequency_ & lhs, const Frequency & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 420 of file Frequency.hpp.

operator!=() [7/21]

bool NAV::operator!= ( const Node::Kind & lhs, const Node::Kind & rhs )

constexpr

Inequal compares Node::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 506 of file Node.hpp.

operator!=() [8/21]

bool NAV::operator!= ( const Node::Kind & lhs, const Node::Kind::Value & rhs )

constexpr

Inequal compares Node::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 522 of file Node.hpp.

operator!=() [9/21]

bool NAV::operator!= ( const Node::Kind::Value & lhs, const Node::Kind & rhs )

constexpr

Inequal compares Node::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 527 of file Node.hpp.

operator!=() [10/21]

bool NAV::operator!= ( const Pin::Kind & lhs, const Pin::Kind & rhs )

constexpr

Inequal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 785 of file Pin.hpp.

operator!=() [11/21]

bool NAV::operator!= ( const Pin::Kind & lhs, const Pin::Kind::Value & rhs )

constexpr

Inequal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 801 of file Pin.hpp.

operator!=() [12/21]

bool NAV::operator!= ( const Pin::Kind::Value & lhs, const Pin::Kind & rhs )

constexpr

Inequal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 806 of file Pin.hpp.

operator!=() [13/21]

bool NAV::operator!= ( const Pin::Type & lhs, const Pin::Type & rhs )

constexpr

Inequal compares Pin::Type values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 817 of file Pin.hpp.

operator!=() [14/21]

bool NAV::operator!= ( const Pin::Type & lhs, const Pin::Type::Value & rhs )

constexpr

Inequal compares Pin::Type values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 833 of file Pin.hpp.

operator!=() [15/21]

bool NAV::operator!= ( const Pin::Type::Value & lhs, const Pin::Type & rhs )

constexpr

Inequal compares Pin::Type values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 838 of file Pin.hpp.

operator!=() [16/21]

bool NAV::operator!= ( const SatelliteSystem & lhs, const SatelliteSystem & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 363 of file SatelliteSystem.hpp.

operator!=() [17/21]

bool NAV::operator!= ( const SatelliteSystem & lhs, const SatelliteSystem_ & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 368 of file SatelliteSystem.hpp.

operator!=() [18/21]

bool NAV::operator!= ( const SatelliteSystem_ & lhs, const SatelliteSystem & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 373 of file SatelliteSystem.hpp.

operator!=() [19/21]

bool NAV::operator!= ( const TimeSystem & lhs, const TimeSystem & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 381 of file TimeSystem.hpp.

operator!=() [20/21]

bool NAV::operator!= ( const TimeSystem & lhs, const TimeSystem_ & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 386 of file TimeSystem.hpp.

operator!=() [21/21]

bool NAV::operator!= ( const TimeSystem_ & lhs, const TimeSystem & rhs )

constexpr

Inequal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 391 of file TimeSystem.hpp.

operator""_deg()

long double NAV::operator""_deg ( long double deg )

constexpr

Converts [degree] to [radian].

Definition at line 72 of file Units.hpp.

operator""_mas() [1/2]

long double NAV::operator""_mas ( long double mas )

constexpr

Converts [milliarcseconds] to [radian].

Definition at line 78 of file Units.hpp.

operator""_mas() [2/2]

long double NAV::operator""_mas ( unsigned long long mas )

constexpr

Converts [milliarcseconds] to [radian].

Definition at line 84 of file Units.hpp.

operator""_ppb() [1/2]

long double NAV::operator""_ppb ( long double ppb )

constexpr

Parts per billion.

Definition at line 90 of file Units.hpp.

operator""_ppb() [2/2]

long double NAV::operator""_ppb ( unsigned long long ppb )

constexpr

Parts per billion.

Definition at line 96 of file Units.hpp.

operator&() [1/33]

Code NAV::operator&	(	Code	lhs,
		Frequency	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 1034 of file Code.cpp.

operator&() [2/33]

Code NAV::operator&	(	Code	lhs,
		Frequency_	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 906 of file Code.cpp.

operator&() [3/33]

Code NAV::operator&	(	Code	lhs,
		SatelliteSystem	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 830 of file Code.cpp.

operator&() [4/33]

Code NAV::operator&	(	Code	lhs,
		SatelliteSystem_	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 784 of file Code.cpp.

operator&() [5/33]

Code NAV::operator&	(	const Code &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ANDed value.

Definition at line 697 of file Code.cpp.

operator&() [6/33]

Code NAV::operator&	(	const Code &	lhs,
		const Code::Enum &	rhs )

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ANDed value.

Definition at line 701 of file Code.cpp.

operator&() [7/33]

Code NAV::operator&	(	const Code::Enum &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ANDed value.

Definition at line 705 of file Code.cpp.

operator&() [8/33]

Code NAV::operator&	(	const Code::Enum &	lhs,
		const Code::Enum &	rhs )

Allows combining flags of the Code enum.

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ANDed value.

Definition at line 714 of file Code.cpp.

operator&() [9/33]

Code NAV::operator&	(	Frequency	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 1038 of file Code.cpp.

operator&() [10/33]

Frequency_ NAV::operator& ( Frequency lhs, Frequency rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 317 of file Frequency.hpp.

operator&() [11/33]

Frequency_ NAV::operator& ( Frequency lhs, Frequency_ rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 325 of file Frequency.hpp.

operator&() [12/33]

Frequency_ NAV::operator& ( Frequency lhs, SatelliteSystem rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 506 of file Frequency.hpp.

operator&() [13/33]

Frequency_ NAV::operator& ( Frequency lhs, SatelliteSystem_ rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 480 of file Frequency.hpp.

operator&() [14/33]

Code NAV::operator&	(	Frequency_	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 1025 of file Code.cpp.

operator&() [15/33]

Frequency_ NAV::operator& ( Frequency_ lhs, Frequency rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 333 of file Frequency.hpp.

operator&() [16/33]

Frequency_ NAV::operator& ( Frequency_ lhs, Frequency_ rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 309 of file Frequency.hpp.

operator&() [17/33]

Frequency_ NAV::operator& ( Frequency_ lhs, SatelliteSystem rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 454 of file Frequency.hpp.

operator&() [18/33]

Frequency_ NAV::operator& ( Frequency_ lhs, SatelliteSystem_ rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 428 of file Frequency.hpp.

operator&() [19/33]

Orbit::Calc NAV::operator& ( Orbit::Calc lhs, Orbit::Calc rhs )

inline

Allows construction of Calc objects.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 103 of file Orbit.hpp.

operator&() [20/33]

Code NAV::operator&	(	SatelliteSystem	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 834 of file Code.cpp.

operator&() [21/33]

Frequency_ NAV::operator& ( SatelliteSystem lhs, Frequency rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 514 of file Frequency.hpp.

operator&() [22/33]

Frequency_ NAV::operator& ( SatelliteSystem lhs, Frequency_ rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 462 of file Frequency.hpp.

operator&() [23/33]

SatelliteSystem NAV::operator& ( SatelliteSystem lhs, SatelliteSystem rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 268 of file SatelliteSystem.hpp.

operator&() [24/33]

SatelliteSystem_ NAV::operator& ( SatelliteSystem lhs, SatelliteSystem_ rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 276 of file SatelliteSystem.hpp.

operator&() [25/33]

Code NAV::operator&	(	SatelliteSystem_	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 821 of file Code.cpp.

operator&() [26/33]

Frequency_ NAV::operator& ( SatelliteSystem_ lhs, Frequency rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 488 of file Frequency.hpp.

operator&() [27/33]

Frequency_ NAV::operator& ( SatelliteSystem_ lhs, Frequency_ rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 436 of file Frequency.hpp.

operator&() [28/33]

SatelliteSystem_ NAV::operator& ( SatelliteSystem_ lhs, SatelliteSystem rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 284 of file SatelliteSystem.hpp.

operator&() [29/33]

SatelliteSystem_ NAV::operator& ( SatelliteSystem_ lhs, SatelliteSystem_ rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 260 of file SatelliteSystem.hpp.

operator&() [30/33]

TimeSystem NAV::operator& ( TimeSystem lhs, TimeSystem rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 288 of file TimeSystem.hpp.

operator&() [31/33]

TimeSystem NAV::operator& ( TimeSystem lhs, TimeSystem_ rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 296 of file TimeSystem.hpp.

operator&() [32/33]

TimeSystem NAV::operator& ( TimeSystem_ lhs, TimeSystem rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 304 of file TimeSystem.hpp.

operator&() [33/33]

TimeSystem_ NAV::operator& ( TimeSystem_ lhs, TimeSystem_ rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 280 of file TimeSystem.hpp.

operator&=() [1/16]

Frequency & NAV::operator&= ( Frequency & lhs, const Frequency & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 351 of file Frequency.hpp.

operator&=() [2/16]

Frequency & NAV::operator&= ( Frequency & lhs, const Frequency_ & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 369 of file Frequency.hpp.

operator&=() [3/16]

Frequency & NAV::operator&= ( Frequency & lhs, const SatelliteSystem & rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 522 of file Frequency.hpp.

operator&=() [4/16]

Frequency & NAV::operator&= ( Frequency & lhs, const SatelliteSystem_ & rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 496 of file Frequency.hpp.

operator&=() [5/16]

Frequency_ & NAV::operator&= ( Frequency_ & lhs, const Frequency & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 360 of file Frequency.hpp.

operator&=() [6/16]

Frequency_ & NAV::operator&= ( Frequency_ & lhs, const Frequency_ & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 342 of file Frequency.hpp.

operator&=() [7/16]

Frequency_ & NAV::operator&= ( Frequency_ & lhs, const SatelliteSystem & rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 470 of file Frequency.hpp.

operator&=() [8/16]

Frequency_ & NAV::operator&= ( Frequency_ & lhs, const SatelliteSystem_ & rhs )

constexpr

Allows filtering Frequency with SatelliteSystem.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 444 of file Frequency.hpp.

operator&=() [9/16]

SatelliteSystem & NAV::operator&= ( SatelliteSystem & lhs, const SatelliteSystem & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 302 of file SatelliteSystem.hpp.

operator&=() [10/16]

SatelliteSystem & NAV::operator&= ( SatelliteSystem & lhs, const SatelliteSystem_ & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 320 of file SatelliteSystem.hpp.

operator&=() [11/16]

SatelliteSystem_ & NAV::operator&= ( SatelliteSystem_ & lhs, const SatelliteSystem & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 311 of file SatelliteSystem.hpp.

operator&=() [12/16]

SatelliteSystem_ & NAV::operator&= ( SatelliteSystem_ & lhs, const SatelliteSystem_ & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 293 of file SatelliteSystem.hpp.

operator&=() [13/16]

TimeSystem & NAV::operator&= ( TimeSystem & lhs, const TimeSystem & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 322 of file TimeSystem.hpp.

operator&=() [14/16]

TimeSystem & NAV::operator&= ( TimeSystem & lhs, const TimeSystem_ & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 340 of file TimeSystem.hpp.

operator&=() [15/16]

TimeSystem_ & NAV::operator&= ( TimeSystem_ & lhs, const TimeSystem & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 331 of file TimeSystem.hpp.

operator&=() [16/16]

TimeSystem_ & NAV::operator&= ( TimeSystem_ & lhs, const TimeSystem_ & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ANDed value.

Definition at line 313 of file TimeSystem.hpp.

operator<() [1/4]

bool NAV::operator<	(	const Code &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right hand side of the operator

Returns

True if lhs < rhs

Definition at line 767 of file Code.cpp.

operator<() [2/4]

bool NAV::operator<	(	const Code &	lhs,
		const Code::Enum &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right hand side of the operator

Returns

True if lhs < rhs

Definition at line 772 of file Code.cpp.

operator<() [3/4]

bool NAV::operator<	(	const Code::Enum &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right hand side of the operator

Returns

True if lhs < rhs

Definition at line 777 of file Code.cpp.

operator<() [4/4]

template<std::size_t N>

bool NAV::operator<	(	const std::bitset< N > &	lhs,
		const std::bitset< N > &	rhs )

Comparison operator for bitsets.

Template Parameters

N	Amount of bits

Parameters

[in]	lhs	Left-hand side
[in]	rhs	Right-hand side

Returns

True when lhs < rhs

Definition at line 59 of file STL.hpp.

operator<<() [1/7]

std::ostream & NAV::operator<<	(	std::ostream &	os,
		const InsTime &	insTime )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	insTime	Object to print

Returns

Returns the output stream object in order to chain stream insertions

Definition at line 64 of file InsTime.cpp.

operator<<() [2/7]

std::ostream & NAV::operator<<	(	std::ostream &	os,
		const InsTime_GPSweekTow &	gpsWeekTow )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	gpsWeekTow	Object to print

Returns

Returns the output stream object in order to chain stream insertions

Definition at line 79 of file InsTime.cpp.

operator<<() [3/7]

std::ostream & NAV::operator<<	(	std::ostream &	os,
		const InsTime_JD &	jd )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	jd	Object to print

Returns

Returns the output stream object in order to chain stream insertions

Definition at line 74 of file InsTime.cpp.

operator<<() [4/7]

std::ostream & NAV::operator<<	(	std::ostream &	os,
		const InsTime_MJD &	mjd )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	mjd	Object to print

Returns

Returns the output stream object in order to chain stream insertions

Definition at line 69 of file InsTime.cpp.

operator<<() [5/7]

std::ostream & NAV::operator<<	(	std::ostream &	os,
		const InsTime_YDoySod &	yDoySod )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	yDoySod	Object to print

Returns

Returns the output stream object in order to chain stream insertions

Definition at line 89 of file InsTime.cpp.

operator<<() [6/7]

std::ostream & NAV::operator<<	(	std::ostream &	os,
		const InsTime_YMDHMS &	ymdhms )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	ymdhms	Object to print

Returns

Returns the output stream object in order to chain stream insertions

Definition at line 84 of file InsTime.cpp.

operator<<() [7/7]

std::ostream & NAV::operator<<	(	std::ostream &	os,
		const SatelliteSystem &	satSys )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	satSys	Object to print

Returns

Returns the output stream object in order to chain stream insertions

Definition at line 320 of file SatelliteSystem.cpp.

operator==() [1/26]

bool NAV::operator==	(	const Code &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 737 of file Code.cpp.

operator==() [2/26]

bool NAV::operator==	(	const Code &	lhs,
		const Code::Enum &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 742 of file Code.cpp.

operator==() [3/26]

bool NAV::operator==	(	const Code::Enum &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 747 of file Code.cpp.

operator==() [4/26]

bool NAV::operator== ( const Frequency & lhs, const Frequency & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 394 of file Frequency.hpp.

operator==() [5/26]

bool NAV::operator== ( const Frequency & lhs, const Frequency_ & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 399 of file Frequency.hpp.

operator==() [6/26]

bool NAV::operator== ( const Frequency_ & lhs, const Frequency & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 404 of file Frequency.hpp.

operator==() [7/26]

bool NAV::operator== ( const Node::Kind & lhs, const Node::Kind & rhs )

constexpr

Equal compares Node::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 501 of file Node.hpp.

operator==() [8/26]

bool NAV::operator== ( const Node::Kind & lhs, const Node::Kind::Value & rhs )

constexpr

Equal compares Node::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 512 of file Node.hpp.

operator==() [9/26]

bool NAV::operator== ( const Node::Kind::Value & lhs, const Node::Kind & rhs )

constexpr

Equal compares Node::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 517 of file Node.hpp.

operator==() [10/26]

bool NAV::operator== ( const Pin::Kind & lhs, const Pin::Kind & rhs )

constexpr

Equal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 780 of file Pin.hpp.

operator==() [11/26]

bool NAV::operator== ( const Pin::Kind & lhs, const Pin::Kind::Value & rhs )

constexpr

Equal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 791 of file Pin.hpp.

operator==() [12/26]

bool NAV::operator== ( const Pin::Kind::Value & lhs, const Pin::Kind & rhs )

constexpr

Equal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 796 of file Pin.hpp.

operator==() [13/26]

bool NAV::operator== ( const Pin::Type & lhs, const Pin::Type & rhs )

constexpr

Equal compares Pin::Type values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 812 of file Pin.hpp.

operator==() [14/26]

bool NAV::operator== ( const Pin::Type & lhs, const Pin::Type::Value & rhs )

constexpr

Equal compares Pin::Type values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 823 of file Pin.hpp.

operator==() [15/26]

bool NAV::operator== ( const Pin::Type::Value & lhs, const Pin::Type & rhs )

constexpr

Equal compares Pin::Type values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 828 of file Pin.hpp.

operator==() [16/26]

bool NAV::operator== ( const SatelliteSystem & lhs, const SatelliteSystem & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 347 of file SatelliteSystem.hpp.

operator==() [17/26]

bool NAV::operator== ( const SatelliteSystem & lhs, const SatelliteSystem_ & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 352 of file SatelliteSystem.hpp.

operator==() [18/26]

bool NAV::operator== ( const SatelliteSystem_ & lhs, const SatelliteSystem & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 357 of file SatelliteSystem.hpp.

operator==() [19/26]

template<typename T>

bool NAV::operator== ( const std::vector< T > & lhs, std::span< const T > rhs )

nodiscard

Comparison operator for span and vector.

Parameters

lhs	Left-hand side
rhs	Right-hand side

Returns

True if all elements are equal

Definition at line 65 of file Vector.hpp.

operator==() [20/26]

bool NAV::operator== ( const TemperatureModel & lhs, const TemperatureModel & rhs )

constexpr

Equal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 73 of file Temperature.hpp.

operator==() [21/26]

bool NAV::operator== ( const TemperatureModel & lhs, const TemperatureModel::Model & rhs )

constexpr

Equal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 87 of file Temperature.hpp.

operator==() [22/26]

bool NAV::operator== ( const TemperatureModel::Model & lhs, const TemperatureModel & rhs )

constexpr

Equal compares Pin::Kind values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 92 of file Temperature.hpp.

operator==() [23/26]

bool NAV::operator== ( const TimeSystem & lhs, const TimeSystem & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 365 of file TimeSystem.hpp.

operator==() [24/26]

bool NAV::operator== ( const TimeSystem & lhs, const TimeSystem_ & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 370 of file TimeSystem.hpp.

operator==() [25/26]

bool NAV::operator== ( const TimeSystem_ & lhs, const TimeSystem & rhs )

constexpr

Equal compares values.

Parameters

[in]	lhs	Left-hand side of the operator
[in]	rhs	Right-hand side of the operator

Returns

Whether the comparison was successful

Definition at line 375 of file TimeSystem.hpp.

operator==() [26/26]

template<typename T>

bool NAV::operator== ( std::span< const T > lhs, const std::vector< T > & rhs )

nodiscard

Comparison operator for span and vector.

Parameters

lhs	Left-hand side
rhs	Right-hand side

Returns

True if all elements are equal

Definition at line 80 of file Vector.hpp.

operator|() [1/25]

Code NAV::operator|	(	Code	lhs,
		Frequency	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 1176 of file Code.cpp.

operator|() [2/25]

Code NAV::operator|	(	Code	lhs,
		Frequency_	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 1048 of file Code.cpp.

operator|() [3/25]

Code NAV::operator|	(	Code	lhs,
		SatelliteSystem	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 890 of file Code.cpp.

operator|() [4/25]

Code NAV::operator|	(	Code	lhs,
		SatelliteSystem_	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 844 of file Code.cpp.

operator|() [5/25]

Code NAV::operator|	(	const Code &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ORed value.

Definition at line 673 of file Code.cpp.

operator|() [6/25]

Code NAV::operator|	(	const Code &	lhs,
		const Code::Enum &	rhs )

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ORed value.

Definition at line 677 of file Code.cpp.

operator|() [7/25]

Code NAV::operator|	(	const Code::Enum &	lhs,
		const Code &	rhs )

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ORed value.

Definition at line 681 of file Code.cpp.

operator|() [8/25]

Code NAV::operator|	(	const Code::Enum &	lhs,
		const Code::Enum &	rhs )

Allows combining flags of the Code enum.

Parameters

[in]	lhs	Left-hand side value.
[in]	rhs	Right-hand side value.

Returns

The binary ORed value.

Definition at line 710 of file Code.cpp.

operator|() [9/25]

Code NAV::operator|	(	Frequency	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 1180 of file Code.cpp.

operator|() [10/25]

Frequency_ NAV::operator| ( Frequency lhs, Frequency rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 247 of file Frequency.hpp.

operator|() [11/25]

Frequency_ NAV::operator| ( Frequency lhs, Frequency_ rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 263 of file Frequency.hpp.

operator|() [12/25]

Code NAV::operator|	(	Frequency_	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 1167 of file Code.cpp.

operator|() [13/25]

Frequency_ NAV::operator| ( Frequency_ lhs, Frequency rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 255 of file Frequency.hpp.

operator|() [14/25]

Frequency_ NAV::operator| ( Frequency_ lhs, Frequency_ rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 239 of file Frequency.hpp.

operator|() [15/25]

Orbit::Calc NAV::operator| ( Orbit::Calc lhs, Orbit::Calc rhs )

inline

Allows construction of Calc objects.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 97 of file Orbit.hpp.

operator|() [16/25]

Code NAV::operator|	(	SatelliteSystem	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 894 of file Code.cpp.

operator|() [17/25]

SatelliteSystem_ NAV::operator| ( SatelliteSystem lhs, SatelliteSystem rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 198 of file SatelliteSystem.hpp.

operator|() [18/25]

SatelliteSystem_ NAV::operator| ( SatelliteSystem lhs, SatelliteSystem_ rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 214 of file SatelliteSystem.hpp.

operator|() [19/25]

Code NAV::operator|	(	SatelliteSystem_	lhs,
		Code	rhs )

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 881 of file Code.cpp.

operator|() [20/25]

SatelliteSystem_ NAV::operator| ( SatelliteSystem_ lhs, SatelliteSystem rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 206 of file SatelliteSystem.hpp.

operator|() [21/25]

SatelliteSystem_ NAV::operator| ( SatelliteSystem_ lhs, SatelliteSystem_ rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 190 of file SatelliteSystem.hpp.

operator|() [22/25]

TimeSystem NAV::operator| ( TimeSystem lhs, TimeSystem rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 218 of file TimeSystem.hpp.

operator|() [23/25]

TimeSystem NAV::operator| ( TimeSystem lhs, TimeSystem_ rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 234 of file TimeSystem.hpp.

operator|() [24/25]

TimeSystem NAV::operator| ( TimeSystem_ lhs, TimeSystem rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 226 of file TimeSystem.hpp.

operator|() [25/25]

TimeSystem_ NAV::operator| ( TimeSystem_ lhs, TimeSystem_ rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 210 of file TimeSystem.hpp.

operator|=() [1/12]

Frequency & NAV::operator|= ( Frequency & lhs, const Frequency & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 281 of file Frequency.hpp.

operator|=() [2/12]

Frequency & NAV::operator|= ( Frequency & lhs, const Frequency_ & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 299 of file Frequency.hpp.

operator|=() [3/12]

Frequency_ & NAV::operator|= ( Frequency_ & lhs, const Frequency & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 290 of file Frequency.hpp.

operator|=() [4/12]

Frequency_ & NAV::operator|= ( Frequency_ & lhs, const Frequency_ & rhs )

constexpr

Allows combining flags of the Frequency enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 272 of file Frequency.hpp.

operator|=() [5/12]

SatelliteSystem & NAV::operator|= ( SatelliteSystem & lhs, const SatelliteSystem & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 232 of file SatelliteSystem.hpp.

operator|=() [6/12]

SatelliteSystem & NAV::operator|= ( SatelliteSystem & lhs, const SatelliteSystem_ & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 250 of file SatelliteSystem.hpp.

operator|=() [7/12]

SatelliteSystem_ & NAV::operator|= ( SatelliteSystem_ & lhs, const SatelliteSystem & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 241 of file SatelliteSystem.hpp.

operator|=() [8/12]

SatelliteSystem_ & NAV::operator|= ( SatelliteSystem_ & lhs, const SatelliteSystem_ & rhs )

constexpr

Allows combining flags of the SatelliteSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 223 of file SatelliteSystem.hpp.

operator|=() [9/12]

TimeSystem & NAV::operator|= ( TimeSystem & lhs, const TimeSystem & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 252 of file TimeSystem.hpp.

operator|=() [10/12]

TimeSystem & NAV::operator|= ( TimeSystem & lhs, const TimeSystem_ & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 270 of file TimeSystem.hpp.

operator|=() [11/12]

TimeSystem_ & NAV::operator|= ( TimeSystem_ & lhs, const TimeSystem & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 261 of file TimeSystem.hpp.

operator|=() [12/12]

TimeSystem_ & NAV::operator|= ( TimeSystem_ & lhs, const TimeSystem_ & rhs )

constexpr

Allows combining flags of the TimeSystem enum.

Parameters

[in]	lhs	Left-hand side enum value.
[in]	rhs	Right-hand side enum value.

Returns

The binary ORed value.

Definition at line 243 of file TimeSystem.hpp.

operator~() [1/6]

Frequency_ NAV::operator~ ( Frequency rhs )

constexpr

Allows negating flags of the Frequency enum.

Parameters

[in]

rhs

Right-hand side enum value.

Returns

The binary NEGed value.

Definition at line 385 of file Frequency.hpp.

operator~() [2/6]

Frequency_ NAV::operator~ ( Frequency_ rhs )

constexpr

Allows negating flags of the Frequency enum.

Parameters

[in]

rhs

Right-hand side enum value.

Returns

The binary NEGed value.

Definition at line 378 of file Frequency.hpp.

operator~() [3/6]

SatelliteSystem_ NAV::operator~ ( SatelliteSystem rhs )

constexpr

Allows negating flags of the SatelliteSystem enum.

Parameters

[in]

rhs

Right-hand side enum value.

Returns

The binary NEGed value.

Definition at line 336 of file SatelliteSystem.hpp.

operator~() [4/6]

SatelliteSystem_ NAV::operator~ ( SatelliteSystem_ rhs )

constexpr

Allows negating flags of the SatelliteSystem enum.

Parameters

[in]

rhs

Right-hand side enum value.

Returns

The binary NEGed value.

Definition at line 329 of file SatelliteSystem.hpp.

operator~() [5/6]

TimeSystem NAV::operator~ ( TimeSystem rhs )

constexpr

Allows negating flags of the TimeSystem enum.

Parameters

[in]

rhs

Right-hand side enum value.

Returns

The binary NEGed value.

Definition at line 356 of file TimeSystem.hpp.

operator~() [6/6]

TimeSystem NAV::operator~ ( TimeSystem_ rhs )

constexpr

Allows negating flags of the TimeSystem enum.

Parameters

[in]

rhs

Right-hand side enum value.

Returns

The binary NEGed value.

Definition at line 349 of file TimeSystem.hpp.

PolynomialCycleSlipDetectorGui()

template<typename Key>

bool NAV::PolynomialCycleSlipDetectorGui	(	const char *	label,
		PolynomialCycleSlipDetector< Key > &	polynomialCycleSlipDetector,
		float	width = 0.0F )

Shows a GUI for advanced configuration of the PolynomialCycleSlipDetector.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in]	polynomialCycleSlipDetector	Reference to the cycle-slip detector to configure
[in]	width	Width of the widget

Definition at line 245 of file PolynomialCycleSlipDetector.hpp.

psd2BiasGaussMarkov()

Eigen::Vector3d NAV::psd2BiasGaussMarkov ( const Eigen::Vector3d & sigma2_bd, const Eigen::Vector3d & tau_bd )

nodiscard

u_bias^2 Power Spectral Density of the bias for a Gauss-Markov random process

Parameters

[in]	sigma2_bd	𝜎²_bd standard deviation of the bias noise
[in]	tau_bd	𝜏 Correlation length in [s]

Note

See Brown & Hwang (2011) - Introduction to Random Signals and Applied Kalman Filtering (example 9.6)

Definition at line 29 of file ProcessNoise.cpp.

Q_df_df()

Eigen::Matrix3d NAV::Q_df_df ( const Eigen::Vector3d & S_bad, const double & tau_s )

nodiscard

Submatrix 𝐐_44 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_44

Note

See Groves (2013) equation (14.80)

Definition at line 115 of file ProcessNoise.cpp.

Q_df_dv()

Eigen::Matrix3d NAV::Q_df_dv ( const Eigen::Vector3d & S_bad, const Eigen::Matrix3d & b_Dcm_ien, const double & tau_s )

nodiscard

Submatrix 𝐐_42 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bad	Power Spectral Density of the accelerometer bias variation
[in]	b_Dcm_ien	Direction Cosine Matrix from {i,e,n} to body coordinates
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_42

Note

See Groves (2013) equation (14.80)

Definition at line 110 of file ProcessNoise.cpp.

Q_domega_domega()

Eigen::Matrix3d NAV::Q_domega_domega ( const Eigen::Vector3d & S_bgd, const double & tau_s )

nodiscard

Submatrix 𝐐_55 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_55

Note

See Groves (2013) equation (14.80)

Definition at line 125 of file ProcessNoise.cpp.

Q_domega_psi()

Eigen::Matrix3d NAV::Q_domega_psi ( const Eigen::Vector3d & S_bgd, const Eigen::Matrix3d & b_Dcm_ien, const double & tau_s )

nodiscard

Submatrix 𝐐_51 of the system noise covariance matrix 𝐐

Parameters

[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	b_Dcm_ien	Direction Cosine Matrix from {i,e,n} to body coordinates
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_51

Note

See Groves (2013) equation (14.80)

Definition at line 120 of file ProcessNoise.cpp.

Q_gnss()

Eigen::Matrix2d NAV::Q_gnss ( const double & S_cPhi, const double & S_cf, const double & tau_s )

nodiscard

Submatrix 𝐐_66 of the system noise covariance matrix 𝐐

Parameters

[in]	S_cPhi	Power Spectral Density of the receiver clock phase drift in [m^2 s^-1]
[in]	S_cf	Power Spectral Density of the receiver clock frequency-drift [m^2 s^-3]
[in]	tau_s	Time interval in [s]

Returns

See Groves (2013) equation (9.152)

Definition at line 130 of file ProcessNoise.cpp.

Q_psi_psi()

Eigen::Matrix3d NAV::Q_psi_psi ( const Eigen::Vector3d & S_rg, const Eigen::Vector3d & S_bgd, const double & tau_s )

nodiscard

Submatrix 𝐐_11 of the system noise covariance matrix 𝐐

Parameters

[in]	S_rg	Power Spectral Density of the gyroscope random noise
[in]	S_bgd	Power Spectral Density of the gyroscope bias variation
[in]	tau_s	Time interval in [s]

Returns

The 3x3 matrix 𝐐_11

Note

See Groves (2013) equation (14.81)

Definition at line 35 of file ProcessNoise.cpp.

rad2deg() [1/2]

template<typename Scalar>

Eigen::Vector3< Scalar > NAV::rad2deg ( const Eigen::Vector3< Scalar > & rad )

inlinenodiscard

Convert Radians to Degree.

Parameters

[in]

rad

Value to convert in [rad]

Returns

The converted value in [deg]

Definition at line 48 of file Units.hpp.

rad2deg() [2/2]

template<class T>

auto NAV::rad2deg ( const T & rad )

nodiscardconstexpr

Convert Radians to Degree.

Parameters

[in]

rad

Value to convert in [rad]

Returns

The converted value in [deg]

Definition at line 39 of file Units.hpp.

rad2semicircles()

template<class T>

auto NAV::rad2semicircles ( const T & rad )

nodiscardconstexpr

Convert Radians to Semicircles.

Parameters

[in]

rad

Value to convert in [rad]

Returns

The converted value in [semicircles]

Definition at line 66 of file Units.hpp.

rangeRate2doppler()

double NAV::rangeRate2doppler ( double rangeRate, Frequency freq, int8_t num )

nodiscard

Transforms a range-rate into a doppler-shift.

Parameters

[in]	rangeRate	The range-rate to transform [m/s]
[in]	freq	Frequency
[in]	num	Frequency number. Only used for GLONASS G1 and G2

Returns

The corresponding doppler-shift [Hz]

Note

See [17] Groves, ch. 9.2.7, eq. 9.70, p. 388

Definition at line 19 of file Functions.cpp.

ratioFreqSquared()

double NAV::ratioFreqSquared ( Frequency f1, Frequency f2, int8_t num1, int8_t num2 )

nodiscard

Calculates the ration of the frequencies squared γ

Parameters

[in]	f1	First frequency (usually L1)
[in]	f2	Second frequency (usually L2)
[in]	num1	First frequency number. Only used for GLONASS G1 and G2
[in]	num2	Second frequency number. Only used for GLONASS G1 and G2

Returns

The ratio (f1/f2)^2 [-]

Note

See [21] IS-GPS-200 ch. 20.3.3.3.3.2 p.99

Definition at line 24 of file Functions.cpp.

removeCols() [1/2]

template<typename Derived>

void NAV::removeCols	(	Eigen::DenseBase< Derived > &	matrix,
		const std::vector< int > &	colIndices )

Removes cols from a matrix or vector.

Parameters

matrix	Matrix to remove from
colIndices	List with indices of cols to remove

Definition at line 201 of file Eigen.hpp.

removeCols() [2/2]

template<typename Derived>

void NAV::removeCols	(	Eigen::DenseBase< Derived > &	matrix,
		size_t	index,
		size_t	length )

Removes columns from a matrix or vector.

Parameters

matrix	Matrix to remove from
index	Index to start removing
length	Length to remove

Definition at line 185 of file Eigen.hpp.

removeRows() [1/2]

template<typename Derived>

void NAV::removeRows	(	Eigen::DenseBase< Derived > &	matrix,
		const std::vector< int > &	rowIndices )

Removes rows from a matrix or vector.

Parameters

matrix	Matrix to remove from
rowIndices	List with indices of rows to remove

Definition at line 165 of file Eigen.hpp.

removeRows() [2/2]

template<typename Derived>

void NAV::removeRows	(	Eigen::DenseBase< Derived > &	matrix,
		size_t	index,
		size_t	length )

Removes rows from a matrix or vector.

Parameters

matrix	Matrix to remove from
index	Index to start removing
length	Length to remove

Definition at line 149 of file Eigen.hpp.

removeRowsAndCols() [1/2]

template<typename Derived>

void NAV::removeRowsAndCols	(	Eigen::DenseBase< Derived > &	matrix,
		const std::vector< int > &	rowIndices,
		const std::vector< int > &	colIndices )

Removes rows and columns from a matrix or vector.

Parameters

matrix	Matrix to remove from
rowIndices	List with indices of rows to remove
colIndices	List with indices of cols to remove

Definition at line 246 of file Eigen.hpp.

removeRowsAndCols() [2/2]

template<typename Derived>

void NAV::removeRowsAndCols	(	Eigen::DenseBase< Derived > &	matrix,
		size_t	row,
		size_t	rows,
		size_t	col,
		size_t	cols )

Removes rows and columns from a matrix or vector.

Parameters

matrix	Matrix to remove from
row	Row index to start removing
rows	Amount of rows to remove
col	Col index to start removing
cols	Amount of cols to remove

Definition at line 223 of file Eigen.hpp.

RungeKutta1()

template<typename Y, typename Z, std::floating_point Scalar>

Y NAV::RungeKutta1	(	const Y &	y_n,
		const std::array< Z, 1 > &	z,
		const Scalar &	h,
		const auto &	f,
		const auto &	constParam,
		const Scalar &	t_n = 0 )

Runge-Kutta 1st order (explicit) / (Forward) Euler method .

Butcher tableau:

Parameters

[in]	y_n	State vector at time t_n
[in]	z	Array of measurements, one for each evaluation point of the Runge Kutta
[in]	h	Integration step in [s]
[in]	f	Time derivative function
[in]	constParam	Constant parameters passed to each time derivative function call
[in]	t_n	Time t_n

Definition at line 175 of file NumericalIntegration.hpp.

RungeKutta2()

template<typename Y, typename Z, std::floating_point Scalar>

Y NAV::RungeKutta2	(	const Y &	y_n,
		const std::array< Z, 2 > &	z,
		const Scalar &	h,
		const auto &	f,
		const auto &	constParam,
		const Scalar &	t_n = 0 )

Runge-Kutta 2nd order (explicit) / Explicit midpoint method .

Butcher tableau:

Parameters

[in]	y_n	State vector at time t_n
[in]	z	Array of measurements, one for each evaluation point of the Runge Kutta
[in]	h	Integration step in [s]
[in]	f	Time derivative function
[in]	constParam	Constant parameters passed to each time derivative function call
[in]	t_n	Time t_n

Definition at line 204 of file NumericalIntegration.hpp.

RungeKutta3()

template<typename Y, typename Z, std::floating_point Scalar>

Y NAV::RungeKutta3	(	const Y &	y_n,
		const std::array< Z, 3 > &	z,
		const Scalar &	h,
		const auto &	f,
		const auto &	constParam,
		const Scalar &	t_n = 0 )

Runge-Kutta 3rd order (explicit) / Simpson's rule .

Butcher tableau:

Parameters

[in]	y_n	State vector at time t_n
[in]	z	Array of measurements, one for each evaluation point of the Runge Kutta
[in]	h	Integration step in [s]
[in]	f	Time derivative function
[in]	constParam	Constant parameters passed to each time derivative function call
[in]	t_n	Time t_n

Definition at line 264 of file NumericalIntegration.hpp.

RungeKutta4()

template<typename Y, typename Z, std::floating_point Scalar>

Y NAV::RungeKutta4	(	const Y &	y_n,
		const std::array< Z, 4 > &	z,
		const Scalar &	h,
		const auto &	f,
		const auto &	constParam,
		const Scalar &	t_n = 0 )

Runge-Kutta 4th order (explicit) .

Butcher tableau:

Parameters

[in]	y_n	State vector at time t_n
[in]	z	Array of measurements, one for each evaluation point of the Runge Kutta
[in]	h	Integration step in [s]
[in]	f	Time derivative function
[in]	constParam	Constant parameters passed to each time derivative function call
[in]	t_n	Time t_n

Definition at line 328 of file NumericalIntegration.hpp.

semicircles2rad()

template<class T>

auto NAV::semicircles2rad ( const T & semicircles )

nodiscardconstexpr

Convert Semicircles to Radians.

Parameters

[in]

semicircles

Value to convert in [semicircles]

Returns

The converted value in [rad]

Definition at line 57 of file Units.hpp.

ShowCodeSelector()

bool NAV::ShowCodeSelector	(	const char *	label,
		Code &	code,
		const Frequency &	filterFreq,
		bool	singleSelect = false )

Shows a ComboBox to select signal codes.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in,out]	code	Reference to the code object to select
[in]	filterFreq	Frequencies to select codes for. Other Frequencies will be disabled.
[in]	singleSelect	If true, only one code can be selected at a time

Definition at line 1199 of file Code.cpp.

ShowColormapSelector()

bool NAV::ShowColormapSelector	(	ColormapMaskType &	type,
		int64_t &	id,
		const char *	label = "" )

Shows a combobox to select a colormap.

Parameters

[in,out]	type	Type of the selected colormap
[in,out]	id	Id of the selected colormap
[in]	label	Unique ImGui Id

Returns

True if a change was made

Definition at line 245 of file Colormap.cpp.

ShowFrequencySelector()

bool NAV::ShowFrequencySelector	(	const char *	label,
		Frequency &	frequency,
		bool	singleSelect = false )

Shows a ComboBox to select GNSS frequencies.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in,out]	frequency	Reference to the frequency object to select
[in]	singleSelect	If true, only one code can be selected at a time

Definition at line 506 of file Frequency.cpp.

ShowPlotTooltip()

bool NAV::ShowPlotTooltip	(	std::vector< PlotTooltip > &	tooltips,
		size_t	plotItemIdx,
		const std::string &	plotName,
		ImAxis	axis,
		const ScrollingBuffer< double > &	xData,
		const ScrollingBuffer< double > &	yData,
		bool	otherHoverTooltipsShown,
		const std::function< void(size_t)> &	showTooltipCallback )

Shows a tooltip if the plot is hovered.

Parameters

[in,out]	tooltips	Tooltip vector to show
[in]	plotItemIdx	Plot item index
[in]	plotName	Name of the plot item
[in]	axis	Axis to check for
[in]	xData	X axis data
[in]	yData	Y axis data
[in]	otherHoverTooltipsShown	Whether other hover tooltips are already shown
[in]	showTooltipCallback	Called inside the tooltip. Argument is the data index for which the tooltip is shown

Returns

True if a tooltip is shown

Definition at line 17 of file PlotTooltip.cpp.

ShowPlotTooltipWindows()

void NAV::ShowPlotTooltipWindows	(	std::vector< PlotTooltip > &	tooltips,
		size_t	plotItemIdx,
		const std::string &	plotName,
		const std::string &	uid,
		const std::vector< int * > &	parentWindows,
		const std::function< InsTime(size_t)> &	getInsTime,
		const std::function< void(size_t, const char *)> &	showTooltipCallback )

Shows all tooltip windows in the vector.

Parameters

[in,out]	tooltips	Tooltip vector to show
[in]	plotItemIdx	Plot item index
[in]	plotName	Name of the plot item
[in]	uid	Unique id for the window
[in]	parentWindows	Parent windows to stay on top of
[in]	getInsTime	Callback to get the time associated with the tooltip
[in]	showTooltipCallback	Called inside the tooltip. Argument is the data index and the unique id for which the tooltip is shown

Definition at line 81 of file PlotTooltip.cpp.

ShowSatelliteSelector() [1/2]

bool NAV::ShowSatelliteSelector	(	const char *	label,
		SatId &	satellite,
		SatelliteSystem	filterSys = SatSys_All,
		bool	displayOnlyNumber = false )

Shows a ComboBox to select a single satellite.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in,out]	satellite	Reference to the SatId to select
[in]	filterSys	Enable/Disable GUI elements according to this filter
[in]	displayOnlyNumber	Display only the number, not the system

Definition at line 155 of file SatelliteIdentifier.cpp.

ShowSatelliteSelector() [2/2]

bool NAV::ShowSatelliteSelector	(	const char *	label,
		std::vector< SatId > &	satellites,
		SatelliteSystem	filterSys = SatSys_All,
		bool	displayOnlyNumber = false )

Shows a ComboBox to select satellites.

Parameters

[in]	label	Label to show beside the combo box. This has to be a unique id for ImGui.
[in,out]	satellites	Reference to the SatId vector to select
[in]	filterSys	Enable/Disable GUI elements according to this filter
[in]	displayOnlyNumber	Display only the number, not the system

Definition at line 85 of file SatelliteIdentifier.cpp.

solveLinearLeastSquares() [1/2]

template<typename DerivedA, typename DerivedB>

Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime > NAV::solveLinearLeastSquares	(	const Eigen::MatrixBase< DerivedA > &	H,
		const Eigen::MatrixBase< DerivedB > &	dz )

Finds the "least squares" solution for the equation .

Minimizes the functional

which has the solution (assuming that the inverse to exists)

Parameters

[in]	H	Design Matrix
[in]	dz	Residual vector

Returns

Least squares solution

Definition at line 47 of file LeastSquares.hpp.

solveLinearLeastSquares() [2/2]

template<typename Scalar, typename StateKeyType, typename MeasKeyType>

KeyedVectorX< Scalar, StateKeyType > NAV::solveLinearLeastSquares	(	const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &	H,
		const KeyedVectorX< Scalar, MeasKeyType > &	dz )

Finds the "least squares" solution for the equation .

Minimizes the functional (see LeastSquares.hpp)

Parameters

[in]	H	Design Matrix
[in]	dz	Residual vector

Returns

Least squares solution

Definition at line 36 of file KeyedLeastSquares.hpp.

solveLinearLeastSquaresUncertainties() [1/2]

template<typename DerivedA, typename DerivedB>

LeastSquaresResult< Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime >, Eigen::Matrix< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime, DerivedA::ColsAtCompileTime > > NAV::solveLinearLeastSquaresUncertainties	(	const Eigen::MatrixBase< DerivedA > &	H,
		const Eigen::MatrixBase< DerivedB > &	dz )

Finds the "least squares" solution for the equation .

Parameters

[in]	H	Design Matrix
[in]	dz	Residual vector

Returns

Least squares solution and variance

Definition at line 73 of file LeastSquares.hpp.

solveLinearLeastSquaresUncertainties() [2/2]

template<typename Scalar, typename StateKeyType, typename MeasKeyType>

KeyedLeastSquaresResult< Scalar, StateKeyType > NAV::solveLinearLeastSquaresUncertainties	(	const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &	H,
		const KeyedVectorX< Scalar, MeasKeyType > &	dz )

Finds the "least squares" solution for the equation .

Parameters

[in]	H	Design Matrix
[in]	dz	Residual vector

Returns

Least squares solution and variance

Definition at line 62 of file KeyedLeastSquares.hpp.

solveWeightedLinearLeastSquares() [1/2]

template<typename DerivedA, typename DerivedW, typename DerivedB>

Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime > NAV::solveWeightedLinearLeastSquares	(	const Eigen::MatrixBase< DerivedA > &	H,
		const Eigen::MatrixBase< DerivedW > &	W,
		const Eigen::MatrixBase< DerivedB > &	dz )

Finds the "weighted least squares" solution.

Parameters

[in]	H	Design Matrix
[in]	W	Weight matrix
[in]	dz	Residual vector

Returns

Least squares solution

Definition at line 62 of file LeastSquares.hpp.

solveWeightedLinearLeastSquares() [2/2]

template<typename Scalar, typename StateKeyType, typename MeasKeyType>

KeyedVectorX< Scalar, StateKeyType > NAV::solveWeightedLinearLeastSquares	(	const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &	H,
		const KeyedMatrixX< Scalar, MeasKeyType, MeasKeyType > &	W,
		const KeyedVectorX< Scalar, MeasKeyType > &	dz )

Finds the "weighted least squares" solution (see LeastSquares.hpp)

Parameters

[in]	H	Design Matrix
[in]	W	Weight matrix
[in]	dz	Residual vector

Returns

Least squares solution

Definition at line 49 of file KeyedLeastSquares.hpp.

solveWeightedLinearLeastSquaresUncertainties() [1/2]

template<typename DerivedA, typename DerivedW, typename DerivedB>

LeastSquaresResult< Eigen::Vector< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime >, Eigen::Matrix< typename DerivedA::Scalar, DerivedA::ColsAtCompileTime, DerivedA::ColsAtCompileTime > > NAV::solveWeightedLinearLeastSquaresUncertainties	(	const Eigen::MatrixBase< DerivedA > &	H,
		const Eigen::MatrixBase< DerivedW > &	W,
		const Eigen::MatrixBase< DerivedB > &	dz )

Finds the "weighted least squares" solution.

Parameters

[in]	H	Design Matrix
[in]	W	Weight matrix
[in]	dz	Residual vector

Returns

Weighted least squares solution and variance

Definition at line 112 of file LeastSquares.hpp.

solveWeightedLinearLeastSquaresUncertainties() [2/2]

template<typename Scalar, typename StateKeyType, typename MeasKeyType>

KeyedLeastSquaresResult< Scalar, StateKeyType > NAV::solveWeightedLinearLeastSquaresUncertainties	(	const KeyedMatrixX< Scalar, MeasKeyType, StateKeyType > &	H,
		const KeyedMatrixX< Scalar, MeasKeyType, MeasKeyType > &	W,
		const KeyedVectorX< Scalar, MeasKeyType > &	dz )

Finds the "weighted least squares" solution.

Parameters

[in]	H	Design Matrix
[in]	W	Weight matrix
[in]	dz	Residual vector

Returns

Weighted least squares solution and variance

Definition at line 104 of file KeyedLeastSquares.hpp.

sort_permutation() [1/2]

template<typename Derived, typename Compare>

std::vector< size_t > NAV::sort_permutation	(	const Eigen::MatrixBase< Derived > &	vec,
		Compare	compare )

Gives the permutation to sort the vector.

Parameters

vec	Vector to get the sorting permutation for
compare	Comparison operator

Returns

Permutation vector

Note

Taken from https://stackoverflow.com/a/17074810, adapted for Eigen

Definition at line 44 of file Sort.hpp.

sort_permutation() [2/2]

template<typename T, typename Compare>

std::vector< size_t > NAV::sort_permutation	(	const std::vector< T > &	vec,
		Compare	compare )

Gives the permutation to sort the std::vector.

Parameters

vec	Vector to get the sorting permutation for
compare	Comparison operator

Returns

Permutation vector

Note

Taken from https://stackoverflow.com/a/17074810

Definition at line 30 of file Sort.hpp.

SystemModelGui()

bool NAV::SystemModelGui	(	SystemModelCalcAlgorithm &	algorithm,
		float	itemWidth,
		const char *	id )

Shows a GUI.

Parameters

[in]	algorithm	Algorithm to calculate the system model with
[in]	itemWidth	Width of the displayed items
[in]	id	Unique id for ImGui

Returns

True if something was changed

Definition at line 21 of file SystemModel.cpp.

to_json() [1/45]

void NAV::to_json	(	json &	j,
		const AtmosphereModels &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 545 of file Troposphere.cpp.

to_json() [2/45]

void NAV::to_json	(	json &	j,
		const Code &	data )

Converts the provided link 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 1190 of file Code.cpp.

to_json() [3/45]

void NAV::to_json	(	json &	j,
		const Colormap &	cmap )

Converts the provided object into a json object.

Parameters

[out]	j	Return Json object
[in]	cmap	Colormap to convert

Definition at line 215 of file Colormap.cpp.

to_json() [4/45]

void NAV::to_json	(	json &	j,
		const Combiner::Combination &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 65 of file Combiner.cpp.

to_json() [5/45]

void NAV::to_json	(	json &	j,
		const Combiner::Combination::Term &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 44 of file Combiner.cpp.

to_json() [6/45]

void NAV::to_json	(	json &	j,
		const CycleSlipDetector &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 278 of file CycleSlipDetector.cpp.

to_json() [7/45]

static void NAV::to_json ( json & j, const Demo::DemoData & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 51 of file Demo.cpp.

to_json() [8/45]

void NAV::to_json	(	json &	j,
		const Frequency &	data )

Converts the provided link 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 497 of file Frequency.cpp.

to_json() [9/45]

void NAV::to_json	(	json &	j,
		const GnssAnalyzer::Combination &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 55 of file GnssAnalyzer.cpp.

to_json() [10/45]

void NAV::to_json	(	json &	j,
		const GnssAnalyzer::Combination::Term &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 34 of file GnssAnalyzer.cpp.

to_json() [11/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 354 of file MeasurementErrors.cpp.

to_json() [12/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel::ModelParametersCosineType &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 468 of file MeasurementErrors.cpp.

to_json() [13/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel::ModelParametersExponential &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 453 of file MeasurementErrors.cpp.

to_json() [14/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel::ModelParametersRtklib &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 427 of file MeasurementErrors.cpp.

to_json() [15/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel::ModelParametersSine &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 388 of file MeasurementErrors.cpp.

to_json() [16/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel::ModelParametersSineCN0 &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 412 of file MeasurementErrors.cpp.

to_json() [17/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel::ModelParametersSineOffset &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 399 of file MeasurementErrors.cpp.

to_json() [18/45]

void NAV::to_json	(	json &	j,
		const GnssMeasurementErrorModel::ModelParametersSineSqrt &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 440 of file MeasurementErrors.cpp.

to_json() [19/45]

void NAV::to_json	(	json &	j,
		const ImuPos &	pos )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	pos	Object to read info from

Definition at line 16 of file ImuPos.cpp.

to_json() [20/45]

void NAV::to_json	(	json &	j,
		const InertialIntegrator &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 433 of file InertialIntegrator.cpp.

to_json() [21/45]

void NAV::to_json	(	json &	j,
		const InputPin &	pin )

Converts the provided pin into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	pin	Node to convert into json

Definition at line 465 of file Pin.cpp.

to_json() [22/45]

void NAV::to_json	(	json &	j,
		const InsTime &	insTime )

Converts the provided InsTime into a json object.

Parameters

[out]	j	Return Json object
[in]	insTime	Time to convert

Definition at line 94 of file InsTime.cpp.

to_json() [23/45]

void NAV::to_json	(	json &	j,
		const LowPassFilter::FilterItem &	data )

Converts the provided link 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 399 of file LowPassFilter.cpp.

to_json() [24/45]

void NAV::to_json	(	json &	j,
		const Node &	node )

Converts the provided node into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	node	Node to convert into json

Definition at line 990 of file Node.cpp.

to_json() [25/45]

void NAV::to_json	(	json &	j,
		const OutputPin &	pin )

Converts the provided pin into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	pin	Node to convert into json

Definition at line 452 of file Pin.cpp.

to_json() [26/45]

static void NAV::to_json ( json & j, const PinData & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 37 of file ImuFusion.cpp.

to_json() [27/45]

static void NAV::to_json ( json & j, const PinDataBsplineKF & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 260 of file ImuFusion.cpp.

to_json() [28/45]

static void NAV::to_json ( json & j, const PinDataIRWKF & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 158 of file ImuFusion.cpp.

to_json() [29/45]

static void NAV::to_json ( json & j, const Plot::PinData & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 90 of file Plot.cpp.

to_json() [30/45]

static void NAV::to_json ( json & j, const Plot::PinData::PlotData & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 61 of file Plot.cpp.

to_json() [31/45]

static void NAV::to_json ( json & j, const Plot::PlotInfo & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 151 of file Plot.cpp.

to_json() [32/45]

static void NAV::to_json ( json & j, const Plot::PlotInfo::PlotItem & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 126 of file Plot.cpp.

to_json() [33/45]

void NAV::to_json	(	json &	j,
		const PlotItemStyle &	style )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	style	Object to read info from

Definition at line 29 of file PlotItemStyle.cpp.

to_json() [34/45]

template<typename Key>

void NAV::to_json	(	json &	j,
		const PolynomialCycleSlipDetector< Key > &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 293 of file PolynomialCycleSlipDetector.hpp.

to_json() [35/45]

template<typename Scalar = double>

void NAV::to_json	(	json &	j,
		const PolynomialRegressor< Scalar > &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 237 of file PolynomialRegressor.hpp.

to_json() [36/45]

void NAV::to_json	(	json &	j,
		const PosVelAttDerivativeConstants &	data )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 14 of file Mechanization.cpp.

to_json() [37/45]

void NAV::to_json	(	json &	j,
		const RandomNumberGenerator &	rng )

Write info to a json object.

Parameters

[out]	j	Json output
[in]	rng	Object to read info from

Definition at line 19 of file RandomNumberGenerator.cpp.

to_json() [38/45]

void NAV::to_json	(	json &	j,
		const SatelliteSystem &	data )

Converts the provided link 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 311 of file SatelliteSystem.cpp.

to_json() [39/45]

void NAV::to_json	(	json &	j,
		const SatId &	data )

Converts the provided link 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 59 of file SatelliteIdentifier.cpp.

to_json() [40/45]

void NAV::to_json	(	json &	j,
		const SatSigId &	data )

Converts the provided link into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Object to convert into json

Definition at line 72 of file SatelliteIdentifier.cpp.

to_json() [41/45]

void NAV::to_json	(	json &	j,
		const SNRMask &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 200 of file SNRMask.cpp.

to_json() [42/45]

static void NAV::to_json ( json & j, const std::vector< Plot::PinData::PlotData > & data )

static

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 78 of file Plot.cpp.

to_json() [43/45]

void NAV::to_json	(	json &	j,
		const TemperatureModel &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 83 of file Temperature.cpp.

to_json() [44/45]

void NAV::to_json	(	json &	j,
		const TimeSystem &	timeSystem )

Converts the provided TimeSystem into a json object.

Parameters

[out]	j	Return Json object
[in]	timeSystem	TimeSystem to convert

Definition at line 34 of file TimeSystem.cpp.

to_json() [45/45]

void NAV::to_json	(	json &	j,
		const TroposphereModelSelection &	obj )

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

Definition at line 561 of file Troposphere.cpp.

to_string() [1/46]

std::string NAV::to_string ( const CycleSlipDetector::Result & cycleSlip )

nodiscard

Converts the detector result into a string.

Parameters

cycleSlip

Cycle-slip

Definition at line 297 of file CycleSlipDetector.cpp.

to_string() [2/46]

const char * NAV::to_string

(

const TemperatureModel &

temperatureModel

)

Converts the enum to a string.

Parameters

[in]

temperatureModel

Enum value to convert into text

Returns

String representation of the enum

Definition at line 58 of file Temperature.cpp.

to_string() [3/46]

const char * NAV::to_string

(

GnssMeasurementErrorModel::Model

model

)

Converts the enum to a string.

Parameters

[in]

model

Enum value to convert into text

Returns

String representation of the enum

Definition at line 328 of file MeasurementErrors.cpp.

to_string() [4/46]

const char * NAV::to_string ( GnssObs::ObservationType obsType )

constexpr

Converts the enum to a string.

Parameters

[in]

obsType

Enum value to convert into text

Returns

String representation of the enum

Definition at line 357 of file GnssObs.hpp.

to_string() [5/46]

const char * NAV::to_string

(

GravitationModel

gravitationModel

)

Converts the enum to a string.

Parameters

[in]

gravitationModel

Enum value to convert into text

Returns

String representation of the enum

Definition at line 18 of file Gravity.cpp.

to_string() [6/46]

const char * NAV::to_string

(

gui::widgets::PositionWithFrame::ReferenceFrame

refFrame

)

Converts the enum to a string.

Parameters

[in]

refFrame

Enum value to convert into text

Returns

String representation of the enum

Definition at line 25 of file PositionInput.cpp.

to_string() [7/46]

const char * NAV::to_string

(

gui::widgets::TimeEditFormat::Format

timeEditFormat

)

Converts the enum to a string.

Parameters

[in]

timeEditFormat

Enum value to convert into text

Returns

String representation of the enum

Definition at line 20 of file TimeEdit.cpp.

to_string() [8/46]

const char * NAV::to_string

(

InertialIntegrator::IntegrationAlgorithm

algorithm

)

Converts the enum to a string.

Parameters

[in]

algorithm

Enum value to convert into text

Returns

String representation of the enum

Definition at line 457 of file InertialIntegrator.cpp.

to_string() [9/46]

const char * NAV::to_string

(

InertialIntegrator::IntegrationFrame

frame

)

Converts the enum to a string.

Parameters

[in]

frame

Enum value to convert into text

Returns

String representation of the enum

Definition at line 483 of file InertialIntegrator.cpp.

to_string() [10/46]

const char * NAV::to_string

(

IonosphereModel

ionosphereModel

)

Converts the enum to a string.

Parameters

[in]

ionosphereModel

Enum value to convert into text

Returns

String representation of the enum

Definition at line 24 of file Ionosphere.cpp.

to_string() [11/46]

const char * NAV::to_string

(

MappingFunction

mappingFunction

)

Converts the enum to a string.

Parameters

[in]

mappingFunction

Enum value to convert into text

Returns

String representation of the enum

Definition at line 44 of file Troposphere.cpp.

to_string() [12/46]

const char * NAV::to_string ( NAV::BaroSimulator::GravityInput value )

constexpr

Converts the enum to a string.

Parameters

[in]

value

Enum value to convert into text

Returns

String representation of the enum

Definition at line 118 of file BaroSimulator.hpp.

to_string() [13/46]

const char * NAV::to_string ( NAV::ImuFusion::ImuFusionType value )

constexpr

Parameters

[in]

value

Enum value to convert into text

Returns

String representation of the enum

Definition at line 247 of file ImuFusion.hpp.

to_string() [14/46]

const char * NAV::to_string ( NAV::MultiImuFile::NmeaType value )

constexpr

Converts the enum to a string.

Parameters

[in]

value

Enum value to convert into text

Returns

String representation of the enum

Definition at line 163 of file MultiImuFile.hpp.

to_string() [15/46]

const char * NAV::to_string ( NAV::PressToHgt::GravityInput value )

constexpr

Converts the enum to a string.

Parameters

[in]

value

Enum value to convert into text

Returns

String representation of the enum

Definition at line 111 of file PressToHgt.hpp.

to_string() [16/46]

const char * NAV::to_string

(

NAV::VectorNavBinaryConverter::OutputType

value

)

Converts the enum to a string.

Parameters

[in]

value

Enum value to convert into text

Returns

String representation of the enum

Definition at line 1179 of file VectorNavBinaryConverter.cpp.

to_string() [17/46]

const char * NAV::to_string

(

PolynomialRegressor<>::Strategy

strategy

)

Converts the enum to a string.

Parameters

[in]

strategy

Enum value to convert into text

Returns

String representation of the enum

Definition at line 14 of file PolynomialRegressor.cpp.

to_string() [18/46]

const char * NAV::to_string ( PosVelAttInitializer::AttitudeMode attitudeMode )

constexpr

Converts the enum to a string.

Parameters

[in]

attitudeMode

Enum value to convert into text

Returns

String representation of the enum

Definition at line 207 of file PosVelAttInitializer.hpp.

to_string() [19/46]

const char * NAV::to_string ( PosVelAttInitializer::VelocityOverride velOverride )

constexpr

Converts the enum to a string.

Parameters

[in]

velOverride

Enum value to convert into text

Returns

String representation of the enum

Definition at line 226 of file PosVelAttInitializer.hpp.

to_string() [20/46]

const char * NAV::to_string

(

PressureModel

pressureModel

)

Converts the enum to a string.

Parameters

[in]

pressureModel

Enum value to convert into text

Returns

String representation of the enum

Definition at line 20 of file Pressure.cpp.

to_string() [21/46]

const char * NAV::to_string ( SPP::Algorithm::EstimatorType estimatorType )

nodiscard

Converts the enum to a string.

Parameters

[in]

estimatorType

Enum value to convert into text

Returns

String representation of the enum

Definition at line 817 of file Algorithm.cpp.

to_string() [22/46]

const char * NAV::to_string ( SPP::Algorithm::ReceiverType receiver )

nodiscard

Converts the enum to a string.

Parameters

[in]

receiver

Enum value to convert into text

Returns

String representation of the enum

Definition at line 833 of file Algorithm.cpp.

to_string() [23/46]

const char * NAV::to_string

(

TemperatureModel::Model

temperatureModel

)

Converts the enum to a string.

Parameters

[in]

temperatureModel

Enum value to convert into text

Returns

String representation of the enum

Definition at line 63 of file Temperature.cpp.

to_string() [24/46]

const char * NAV::to_string

(

TimeSystem::TimeSystemEnum

timeSystem

)

Converts the enum to a string.

Parameters

[in]

timeSystem

Enum value to convert into text

Returns

String representation of the enum

Definition at line 55 of file TimeSystem.cpp.

to_string() [25/46]

const char * NAV::to_string

(

TroposphereModel

troposphereZhdModel

)

Converts the enum to a string.

Parameters

[in]

troposphereZhdModel

Enum value to convert into text

Returns

String representation of the enum

Definition at line 26 of file Troposphere.cpp.

to_string() [26/46]

std::string NAV::to_string ( Units::AttitudeUncertaintyUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 302 of file Units.cpp.

to_string() [27/46]

std::string NAV::to_string ( Units::AttitudeUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 332 of file Units.cpp.

to_string() [28/46]

std::string NAV::to_string ( Units::CovarianceAccelUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 176 of file Units.cpp.

to_string() [29/46]

std::string NAV::to_string ( Units::CovarianceAngularVelocityUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 190 of file Units.cpp.

to_string() [30/46]

std::string NAV::to_string ( Units::CovarianceClkFrequencyDriftUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 226 of file Units.cpp.

to_string() [31/46]

std::string NAV::to_string ( Units::CovarianceClkPhaseDriftUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 212 of file Units.cpp.

to_string() [32/46]

std::string NAV::to_string ( Units::ImuAccelerometerFilterBiasUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 372 of file Units.cpp.

to_string() [33/46]

std::string NAV::to_string ( Units::ImuAccelerometerFilterNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 340 of file Units.cpp.

to_string() [34/46]

std::string NAV::to_string ( Units::ImuAccelerometerIRWUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 308 of file Units.cpp.

to_string() [35/46]

std::string NAV::to_string ( Units::ImuAccelerometerNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 276 of file Units.cpp.

to_string() [36/46]

std::string NAV::to_string ( Units::ImuAccelerometerUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 248 of file Units.cpp.

to_string() [37/46]

std::string NAV::to_string ( Units::ImuGyroscopeFilterBiasUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 386 of file Units.cpp.

to_string() [38/46]

std::string NAV::to_string ( Units::ImuGyroscopeFilterNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 354 of file Units.cpp.

to_string() [39/46]

std::string NAV::to_string ( Units::ImuGyroscopeIRWUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 322 of file Units.cpp.

to_string() [40/46]

std::string NAV::to_string ( Units::ImuGyroscopeNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 290 of file Units.cpp.

to_string() [41/46]

std::string NAV::to_string ( Units::ImuGyroscopeUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 262 of file Units.cpp.

to_string() [42/46]

std::string NAV::to_string ( Units::PositionUncertaintyUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 274 of file Units.cpp.

to_string() [43/46]

std::string NAV::to_string ( Units::VelocityUncertaintyUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 288 of file Units.cpp.

to_string() [44/46]

std::string NAV::to_string ( Units::VelocityUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

Definition at line 320 of file Units.cpp.

to_string() [45/46]

const char * NAV::to_string

(

vendor::RINEX::ObsHeader::MarkerTypes

markerType

)

Converts the enum to a string.

Parameters

[in]

markerType

Enum value to convert into text

Returns

String representation of the enum

Definition at line 605 of file RINEXUtilities.cpp.

to_string() [46/46]

const char * NAV::to_string

(

WaterVaporModel

waterVaporModel

)

Converts the enum to a string.

Parameters

[in]

waterVaporModel

Enum value to convert into text

Returns

String representation of the enum

Definition at line 20 of file WaterVapor.cpp.

tooltip()

const char * NAV::tooltip

(

vendor::RINEX::ObsHeader::MarkerTypes

markerType

)

Converts the enum to a string tooltip.

Parameters

[in]

markerType

Enum value to convert into text

Returns

Tooltip for the enum

Definition at line 646 of file RINEXUtilities.cpp.

transitionMatrix_Phi_exp() [1/2]

template<typename Derived>

Derived::PlainObject NAV::transitionMatrix_Phi_exp	(	const Eigen::MatrixBase< Derived > &	F,
		typename Derived::Scalar	tau_s )

Calculates the state transition matrix 𝚽 using the exponential matrix.

Parameters

[in]	F	System Matrix
[in]	tau_s	time interval in [s]

Note

See [17] Groves, ch. 3.2.3, eq. 3.33, p. 97

Attention

The cost of the computation is approximately 20n^3 for matrices of size n. The number 20 depends weakly on the norm of the matrix.

Definition at line 235 of file KalmanFilter.hpp.

transitionMatrix_Phi_exp() [2/2]

template<typename Scalar, typename RowKeyType, typename ColKeyType, int Rows, int Cols>

KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols > NAV::transitionMatrix_Phi_exp	(	const KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols > &	F,
		Scalar	tau_s )

Calculates the state transition matrix 𝚽 using the exponential matrix.

Parameters

[in]	F	System Matrix
[in]	tau_s	time interval in [s]

Note

See [17] Groves, ch. 3.2.3, eq. 3.33, p. 97

Attention

The cost of the computation is approximately 20n^3 for matrices of size n. The number 20 depends weakly on the norm of the matrix.

Definition at line 632 of file KeyedKalmanFilter.hpp.

transitionMatrix_Phi_Taylor() [1/2]

template<typename Derived>

Derived::PlainObject NAV::transitionMatrix_Phi_Taylor	(	const Eigen::MatrixBase< Derived > &	F,
		double	tau_s,
		size_t	order )

Calculates the state transition matrix 𝚽 limited to specified order in 𝐅𝜏ₛ

Parameters

[in]	F	System Matrix
[in]	tau_s	time interval in [s]
[in]	order	The order of the Taylor polynom to calculate

Note

See [17] Groves, ch. 3.2.3, eq. 3.34, p. 98

Definition at line 195 of file KalmanFilter.hpp.

transitionMatrix_Phi_Taylor() [2/2]

template<typename Scalar, typename RowKeyType, typename ColKeyType, int Rows, int Cols>

KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols > NAV::transitionMatrix_Phi_Taylor	(	const KeyedMatrix< Scalar, RowKeyType, ColKeyType, Rows, Cols > &	F,
		Scalar	tau_s,
		size_t	order )

Calculates the state transition matrix 𝚽 limited to specified order in 𝐅𝜏ₛ

Parameters

[in]	F	System Matrix
[in]	tau_s	time interval in [s]
[in]	order	The order of the Taylor polynom to calculate

Note

See [17] Groves, ch. 3.2.3, eq. 3.34, p. 98

Definition at line 592 of file KeyedKalmanFilter.hpp.

tropoErrorVar()

double NAV::tropoErrorVar	(	double	dpsr_T,
		double	elevation )

Calculates the tropospheric error variance.

Parameters

[in]	dpsr_T	Tropospheric propagation error [m]
[in]	elevation	Satellite elevation in [rad]

Returns

Variance of the error [m^2]

Definition at line 538 of file Troposphere.cpp.

vmf1h()

double NAV::vmf1h	(	const double &	ah,
		const double &	dmjd,
		const double &	dlat,
		const double &	ht,
		const double &	zd )

mapping functions with height correction

Parameters

[in]	ah	hydrostatic coefficient a
[in]	dmjd	modified julian date
[in]	dlat	ellipsoidal latitude in radians
[in]	ht	ellipsoidal height in meter
[in]	zd	zenith distance in radians

Returns

vmf1h: hydrostatic mapping function

Definition at line 15 of file ViennaMappingFunction.cpp.

vmf1w()

double NAV::vmf1w	(	const double &	aw,
		const double &	zd )

mapping functions with height correction

Parameters

[in]	aw	wet coefficient a
[in]	zd	zenith distance in radians

Returns

vmf1w: wet mapping function

Definition at line 49 of file ViennaMappingFunction.cpp.

Variable Documentation

all

const internal::all_t NAV::all

static

Used to request all rows or columns in KeyedMatrices.

Definition at line 1457 of file KeyedMatrix.hpp.

Code_ALL

const Code NAV::Code_ALL

All codes set

Definition at line 653 of file Code.hpp.

Code_B1D_B1P_B1X

const Code NAV::Code_B1D_B1P_B1X

B1 (data, pilot, combined)

Definition at line 634 of file Code.hpp.

Code_B2I_B2Q_B2X

const Code NAV::Code_B2I_B2Q_B2X

B1I(OS), B1Q, combined.

Definition at line 635 of file Code.hpp.

Code_B5D_B5P_B5X

const Code NAV::Code_B5D_B5P_B5X

B2a (data, pilot, combined)

Definition at line 636 of file Code.hpp.

Code_B6I_B6Q_B6X

const Code NAV::Code_B6I_B6Q_B6X

B3I, B3Q, combined.

Definition at line 637 of file Code.hpp.

Code_B7D_B7P_B7Z

const Code NAV::Code_B7D_B7P_B7Z

B2b (data, pilot, combined)

Definition at line 639 of file Code.hpp.

Code_B7I_B7Q_B7X

const Code NAV::Code_B7I_B7Q_B7X

B2I(OS), B2Q, combined.

Definition at line 638 of file Code.hpp.

Code_B8D_B8P_B8X

const Code NAV::Code_B8D_B8P_B8X

B2 (B2a+B2b) (data, pilot, combined)

Definition at line 640 of file Code.hpp.

Code_Default

const Code NAV::Code_Default

Default selection for codes.

Definition at line 655 of file Code.hpp.

Code_E1B_E1C_E1X

const Code NAV::Code_E1B_E1C_E1X

OS (data, pilot, combined)

Definition at line 624 of file Code.hpp.

Code_E5I_E5Q_E5X

const Code NAV::Code_E5I_E5Q_E5X

E5a (data, pilot, combined)

Definition at line 625 of file Code.hpp.

Code_E6B_E6C_E6X

const Code NAV::Code_E6B_E6C_E6X

E6 (data, pilot, combined)

Definition at line 626 of file Code.hpp.

Code_E7I_E7Q_E7X

const Code NAV::Code_E7I_E7Q_E7X

E5b (data, pilot, combined)

Definition at line 627 of file Code.hpp.

Code_E8I_E8Q_E8X

const Code NAV::Code_E8I_E8Q_E8X

E5 AltBOC (data, pilot, combined)

Definition at line 628 of file Code.hpp.

Code_G1S_G1L_G1X

const Code NAV::Code_G1S_G1L_G1X

L1C (data, pilot, combined)

Definition at line 620 of file Code.hpp.

Code_G2S_G2L_G2X

const Code NAV::Code_G2S_G2L_G2X

L2C-code (medium, long, combined)

Definition at line 621 of file Code.hpp.

Code_G5I_G5Q_G5X

const Code NAV::Code_G5I_G5Q_G5X

L5 (data, pilot, combined)

Definition at line 622 of file Code.hpp.

Code_I5B_I5C_I5X

const Code NAV::Code_I5B_I5C_I5X

RS (data, pilot, combined)

Definition at line 648 of file Code.hpp.

Code_I9B_I9C_I9X

const Code NAV::Code_I9B_I9C_I9X

RS (data, pilot, combined)

Definition at line 649 of file Code.hpp.

Code_J1S_J1L_J1X

const Code NAV::Code_J1S_J1L_J1X

L1C (data, pilot, combined)

Definition at line 642 of file Code.hpp.

Code_J2S_J2L_J2X

const Code NAV::Code_J2S_J2L_J2X

L2C-code (medium, long, combined)

Definition at line 643 of file Code.hpp.

Code_J5D_J5P_J5Z

const Code NAV::Code_J5D_J5P_J5Z

L5 (data, pilot, combined)

Definition at line 645 of file Code.hpp.

Code_J5I_J5Q_J5X

const Code NAV::Code_J5I_J5Q_J5X

L5 (data, pilot, combined)

Definition at line 644 of file Code.hpp.

Code_J6S_J6L_J6X

const Code NAV::Code_J6S_J6L_J6X

LEX signal (short, long, combined)

Definition at line 646 of file Code.hpp.

Code_R3I_R3Q_R3X

const Code NAV::Code_R3I_R3Q_R3X

L3 (data, pilot, combined)

Definition at line 630 of file Code.hpp.

Code_R4A_R4B_R4X

const Code NAV::Code_R4A_R4B_R4X

G1a (data, pilot, combined)

Definition at line 631 of file Code.hpp.

Code_R6A_R6B_R6X

const Code NAV::Code_R6A_R6B_R6X

G2a (data, pilot, combined)

Definition at line 632 of file Code.hpp.

Code_S5I_S5Q_S5X

const Code NAV::Code_S5I_S5Q_S5X

L5 (data, pilot, combined)

Definition at line 651 of file Code.hpp.

ColormapsFlow

std::vector< Colormap > NAV::ColormapsFlow

Flow colormaps.

Definition at line 27 of file Colormap.cpp.

ColormapsGlobal

std::vector< Colormap > NAV::ColormapsGlobal

Global colormaps.

Definition at line 26 of file Colormap.cpp.

Freq_All

Frequency_ NAV::Freq_All

constexpr

All Frequencies.

Definition at line 529 of file Frequency.hpp.

SatSys_All

SatelliteSystem_ NAV::SatSys_All

constexpr

All Systems.

Definition at line 382 of file SatelliteSystem.hpp.

supportedDataIdentifier

const std::vector<std::string> NAV::supportedDataIdentifier

List of supported data identifiers.

Definition at line 44 of file ErrorModel.cpp.