Crate aegis_filter 

aegis-filter: High-Integrity, Cyber-Resilient State Estimation & Robust Filtering Engine in pure Rust.

Architecture

• linear: Classical and Joseph-stabilized linear Kalman filters with Mahalanobis gating.
• unscented: Unscented Kalman Filter (UKF) for non-linear systems without analytical Jacobians.
• robust: $H_\infty$ (H-infinity) Minimax filters for bounded worst-case disturbances and online adaptive noise estimation.
• common: Core error definitions and #![no_std] deterministic mathematical traits.

Re-exports

pub use common::FilterError;

pub use fusion::FusionStatus;

pub use fusion::MultiSensorFusion1D;

pub use fusion::SensorMeasurement;

pub use fusion::SensorSource;

pub use linear::LinearKalmanFilter;

pub use linear::ScalarKalmanFilter;

pub use robust::AdaptiveFilter1D;

pub use robust::HInfinityFilter1D;

pub use stats::WindowedStats;

pub use unscented::UnscentedKalmanFilter2D;

Modules

common

Core mathematical types, errors, and #![no_std] floating point helpers.

fusion

Multi-sensor fusion engine with dynamic health scoring and Fault Detection, Isolation, and Recovery (FDIR).

linear

Classical Linear & Kinematic Kalman Filters with Joseph stabilized covariance.

robust

Robust & Adaptive State Estimation.

stats

High-integrity running and sliding-window statistics for sensor telemetry and residual monitoring.

unscented

Unscented Kalman Filter (UKF) for non-linear state estimation without calculating Jacobians.