Struct Gate 

pub struct Gate<const DOF: usize>(/* private fields */);

Innovation gate threshold γ of equation (37), for an observation of DOF dimensions.

The degrees of freedom are a property of the observation rather than a choice, so they are part of the type: a threshold for a one-dimensional observation cannot be written into a three-dimensional source’s field, and Gate::at exists only for the dimensions this crate observes. The only free parameter left is the Percentile.

Implementations

impl<const DOF: usize> Gate<DOF>

pub const fn new(threshold: f32) -> Option<Self>

A threshold given as a number, for a caller with a reason to leave the Percentile table; None unless it is finite and strictly positive.

Each refusal is a gate that fails silently. NaN compares false against every ε and accepts everything; +∞ does the same while reporting a test ratio of zero; zero or less rejects everything, and zero makes the ratio of (38) a division by zero.

pub const fn threshold(self) -> f32

The threshold γ, which a test ratio of 1 corresponds to.

impl Gate<1>

pub const fn at(percentile: Percentile) -> Self

The chi-square quantile at percentile for one degree of freedom: barometric altitude, GNSS height, magnetic heading.

Checked in this module’s tests against the closed-form CDF, not against another table.

impl Gate<2>

pub const fn at(percentile: Percentile) -> Self

The chi-square quantile at percentile for two degrees of freedom: the horizontal half of a GNSS position fix.

−2 ln(1 − p) exactly, since two degrees of freedom is the one case with a closed-form CDF, F(x) = 1 − e^(−x/2); checked against it in this module’s tests.

impl Gate<3>

pub const fn at(percentile: Percentile) -> Self

The chi-square quantile at percentile for three degrees of freedom: GNSS velocity.

Checked in this module’s tests against the closed-form CDF, not against another table.

Trait Implementations

impl<const DOF: usize> Clone for Gate<DOF>

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<const DOF: usize> Copy for Gate<DOF>

impl<const DOF: usize> Debug for Gate<DOF>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<const DOF: usize> PartialEq for Gate<DOF>

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl<const DOF: usize> StructuralPartialEq for Gate<DOF>