Struct Solver 

pub struct Solver<EPH: EphemerisSource, ORB: OrbitSource, EB: EnvironmentalBias, SB: SpacebornBias, TIM: AbsoluteTime> {
    pub cfg: Config,
    /* private fields */
}

Solver to resolve PVTSolutions.

Generics:

• EPH: EphemerisSource custom data source. Curreuntly unused: limited to [ORB] only!
• ORB: OrbitSource, custom Orbit data source.
• EB: EnvironmentalBias implementation using either intenral or custom external model.
• SB: SpacebornBias external information provider.
• TIM: AbsoluteTime source for correct absolute time management.

Fields

cfg: Config

Solver Configuration

Implementations

impl<EPH: EphemerisSource, ORB: OrbitSource, EB: EnvironmentalBias, SB: SpacebornBias, TIM: AbsoluteTime> Solver<EPH, ORB, EB, SB, TIM>

pub fn new( almanac: Almanac, earth_cef: Frame, cfg: Config, eph_source: Rc<EPH>, orbit_source: Rc<ORB>, spaceborn_biases: Rc<SB>, environmental_biases: Rc<EB>, absolute_time: TIM, state_ecef_m: Option<(f64, f64, f64)>, ) -> Self

Creates a new Solver for either direct or differential navigation, with possible apriori knowledge.

Input

• almanac: provided valid Almanac
• earth_cef: Frame that must be an ECEF
• cfg: solver Configuration
• eph_source: custom EphemerisSource, unavailable right now, tie to null.
• orbit_source: custom OrbitSource implementation, wrapped in a Rc<RefCell<>> which allows the solver and the orbital provider to live in the same thread.
• absolute_time: external AbsoluteTime implementation.
• bias: [Bias] model implementation
• state_ecef_m: provide initial state as ECEF 3D coordinates, otherwise we will have to figure them.

pub fn new_survey( almanac: Almanac, earth_cef: Frame, cfg: Config, eph_source: Rc<EPH>, orbit_source: Rc<ORB>, spaceborn_biases: Rc<SB>, environmental_biases: Rc<EB>, absolute_time: TIM, ) -> Self

Creates a new Solver to operate without a priori knowledge and perform a complete survey from scratch. Refer to Self::new for more information.

pub fn ppp( &mut self, epoch: Epoch, params: UserParameters, candidates: &[Candidate], ) -> Result<PVTSolution, Error>

PVTSolution solving attempt using PPP technique (no reference). Unlike RTK resolution attempt, PPP solving will resolve both the position and the local clock state, but it is a less accurate and much more complex process.

Input

• epoch: Epoch of measurement
• params: UserParameters
• candidates: proposed Candidates (= measurements)
• rtk_base: possible RTKBase we will connect to

Output

• success: PVTSolution
• failure: Error

pub fn rtk<RTK: RTKBase>( &mut self, epoch: Epoch, params: UserParameters, candidates: &[Candidate], rtk_base: &RTK, ) -> Result<PVTSolution, Error>

PVTSolution solving attempt using RTK technique and a single remote reference site that implements RTKBase. You may catch RTK solving issues (for example, network loss) and retry using Self::ppp, because this object is compatible with both. For this function to converge, the remote site and rover proposals must agree in their content (enough matches) and signals must fulfill the navigation [Method] being used.

NB: unlike PPP solving, RTK solving will only resolve the spatial state, the clock state can only remain undetermined. If you are interested by both, you will either have to restrict to [Self::ppp_run], or do a PPP (time only) run after the RTK run.

Input

• epoch: Epoch of measurement from the rover reported by the rover. The remote site must match the sampling instant closely, reducing the time-difference (RTK aging).
• profile: rover [UserProfile]
• candidates: rover measurements, wrapped as Candidates.
• rtk_base: remote reference site that implements RTKBasereference.

Output

• PVTSolution.

pub fn reset(&mut self)

Reset this Solver.