Receiver specific data. More...

Data Structures
struct	CalcTerms
	Terms used in the calculation. More...

struct	Observation
	Observations. More...

Public Member Functions
Eigen::Vector3d	e_pLOS (const Eigen::Vector3d &e_recPos) const
	Position Line-of-sight unit vector in ECEF frame coordinates.

const Eigen::Vector3d &	e_satPos () const
	Satellite position in ECEF frame coordinates [m].

const Eigen::Vector3d &	e_satVel () const
	Satellite velocity in ECEF frame coordinates [m/s].

Eigen::Vector3d	e_vLOS (const Eigen::Vector3d &e_recPos, const Eigen::Vector3d &e_recVel) const
	Velocity Line-of-sight unit vector in ECEF frame coordinates.

const GnssObs::ObservationData &	gnssObsData () const
	Returns the observation data.

	ReceiverSpecificData (std::shared_ptr< const GnssObs > gnssObs, size_t obsIdx, Eigen::Vector3d e_satPos, Eigen::Vector3d e_satVel, Clock::Corrections satClock)
	Constructor.

double	satAzimuth (const Eigen::Vector3d &e_recPos, const Eigen::Vector3d &lla_recPos) const
	Satellite Azimuth [rad].

const Clock::Corrections &	satClock () const
	Satellite clock information.

double	satElevation (const Eigen::Vector3d &e_recPos, const Eigen::Vector3d &lla_recPos) const
	Satellite Elevation [rad].

Data Fields
unordered_map< GnssObs::ObservationType, Observation >	obs
	Receiver observation of the signal.

CalcTerms	terms
	Sub terms used in the calculation.

Private Attributes
Eigen::Vector3d	_e_satPos
	Satellite position in ECEF frame coordinates [m] (has to be calculated per signal because of TGD)

Eigen::Vector3d	_e_satVel
	Satellite velocity in ECEF frame coordinates [m/s].

std::shared_ptr< const GnssObs >	_gnssObs
	GNSS observation.

size_t	_obsIdx
	Gnss observation data index.

Clock::Corrections	_satClock
	Satellite clock information.

Detailed Description

Receiver specific data.

Definition at line 90 of file Observation.hpp.

Constructor & Destructor Documentation

◆ ReceiverSpecificData()

NAV::Observations::SignalObservation::ReceiverSpecificData::ReceiverSpecificData	(	std::shared_ptr< const GnssObs >	gnssObs,
		size_t	obsIdx,
		Eigen::Vector3d	e_satPos,
		Eigen::Vector3d	e_satVel,
		Clock::Corrections	satClock )

inline

Constructor.

Parameters

[in]	gnssObs	GNSS observation
[in]	obsIdx	GNSS observation index for this measurement
[in]	e_satPos	Satellite position in e frame
[in]	e_satVel	Satellite velocity in e frame
[in]	satClock	Satellite clock information

Definition at line 106 of file Observation.hpp.

Member Function Documentation

◆ e_pLOS()

Eigen::Vector3d NAV::Observations::SignalObservation::ReceiverSpecificData::e_pLOS ( const Eigen::Vector3d & e_recPos ) const

inlinenodiscard

Position Line-of-sight unit vector in ECEF frame coordinates.

Parameters

[in] e_recPos Receiver position in e frame

Definition at line 128 of file Observation.hpp.

◆ e_satPos()

const Eigen::Vector3d & NAV::Observations::SignalObservation::ReceiverSpecificData::e_satPos ( ) const

inlinenodiscard

Satellite position in ECEF frame coordinates [m].

Definition at line 123 of file Observation.hpp.

◆ e_satVel()

const Eigen::Vector3d & NAV::Observations::SignalObservation::ReceiverSpecificData::e_satVel ( ) const

inlinenodiscard

Satellite velocity in ECEF frame coordinates [m/s].

Definition at line 125 of file Observation.hpp.

◆ e_vLOS()

Eigen::Vector3d NAV::Observations::SignalObservation::ReceiverSpecificData::e_vLOS	(	const Eigen::Vector3d &	e_recPos,
		const Eigen::Vector3d &	e_recVel ) const

inlinenodiscard

Velocity Line-of-sight unit vector in ECEF frame coordinates.

Parameters

[in]	e_recPos	Receiver position in e frame
[in]	e_recVel	Receiver velocity in e frame

Definition at line 135 of file Observation.hpp.

◆ gnssObsData()

const GnssObs::ObservationData & NAV::Observations::SignalObservation::ReceiverSpecificData::gnssObsData ( ) const

inlinenodiscard

Returns the observation data.

Definition at line 121 of file Observation.hpp.

◆ satAzimuth()

double NAV::Observations::SignalObservation::ReceiverSpecificData::satAzimuth	(	const Eigen::Vector3d &	e_recPos,
		const Eigen::Vector3d &	lla_recPos ) const

inlinenodiscard

Satellite Azimuth [rad].

Parameters

[in]	e_recPos	Receiver position in e frame
[in]	lla_recPos	Receiver position in lla frame

Definition at line 153 of file Observation.hpp.

◆ satClock()

const Clock::Corrections & NAV::Observations::SignalObservation::ReceiverSpecificData::satClock ( ) const

inlinenodiscard

Satellite clock information.

Definition at line 161 of file Observation.hpp.

◆ satElevation()

double NAV::Observations::SignalObservation::ReceiverSpecificData::satElevation	(	const Eigen::Vector3d &	e_recPos,
		const Eigen::Vector3d &	lla_recPos ) const

inlinenodiscard

Satellite Elevation [rad].

Parameters

[in]	e_recPos	Receiver position in e frame
[in]	lla_recPos	Receiver position in lla frame

Definition at line 143 of file Observation.hpp.

Field Documentation

◆ _e_satPos

Eigen::Vector3d NAV::Observations::SignalObservation::ReceiverSpecificData::_e_satPos

private

Satellite position in ECEF frame coordinates [m] (has to be calculated per signal because of TGD)

Definition at line 177 of file Observation.hpp.

◆ _e_satVel

Eigen::Vector3d NAV::Observations::SignalObservation::ReceiverSpecificData::_e_satVel

private

Satellite velocity in ECEF frame coordinates [m/s].

Definition at line 178 of file Observation.hpp.

◆ _gnssObs

std::shared_ptr<const GnssObs> NAV::Observations::SignalObservation::ReceiverSpecificData::_gnssObs

private

GNSS observation.

Definition at line 175 of file Observation.hpp.

◆ _obsIdx

size_t NAV::Observations::SignalObservation::ReceiverSpecificData::_obsIdx

private

Gnss observation data index.

Definition at line 176 of file Observation.hpp.

◆ _satClock

Clock::Corrections NAV::Observations::SignalObservation::ReceiverSpecificData::_satClock

private

Satellite clock information.

Definition at line 179 of file Observation.hpp.

◆ obs

unordered_map<GnssObs::ObservationType, Observation> NAV::Observations::SignalObservation::ReceiverSpecificData::obs

Receiver observation of the signal.

Definition at line 118 of file Observation.hpp.

◆ terms

CalcTerms NAV::Observations::SignalObservation::ReceiverSpecificData::terms

Sub terms used in the calculation.

Definition at line 172 of file Observation.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/Observation.hpp

Data Structures

Public Member Functions

Data Fields

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ReceiverSpecificData()

Member Function Documentation

◆ e_pLOS()

◆ e_satPos()

◆ e_satVel()

◆ e_vLOS()

◆ gnssObsData()

◆ satAzimuth()

◆ satClock()

◆ satElevation()

Field Documentation

◆ _e_satPos

◆ _e_satVel

◆ _gnssObs

◆ _obsIdx

◆ _satClock

◆ obs

◆ terms