pub struct NavigationState { /* private fields */ }Expand description
Estimator belief about the vessel at one instant.
Implementations§
Sourcepub fn initialised_from(
fix: &GnssFix,
heading: Option<Observed<TrueCourse, Angle>>,
) -> Result<Self>
pub fn initialised_from( fix: &GnssFix, heading: Option<Observed<TrueCourse, Angle>>, ) -> Result<Self>
State from a first fix and an optional heading.
The fix position anchors the local frame, so northing and easting start
at zero. Heading comes from the observation, else from COG, else it is
unknown with the corresponding sigma. Speed through the water starts as
SOG; current starts at zero with StatePriors::current uncertainty.
§Errors
As LocalFrame::at (not reachable from a fix);
KernelError::OutOfRange for a speed above 100 kn.
Sourcepub fn initialised_with(
fix: &GnssFix,
heading: Option<Observed<TrueCourse, Angle>>,
priors: &StatePriors,
) -> Result<Self>
pub fn initialised_with( fix: &GnssFix, heading: Option<Observed<TrueCourse, Angle>>, priors: &StatePriors, ) -> Result<Self>
As NavigationState::initialised_from, with custom priors.
§Errors
Sourcepub fn heading(&self) -> TrueCourse
pub fn heading(&self) -> TrueCourse
Estimated heading.
Sourcepub fn heading_sigma(&self) -> Angle
pub fn heading_sigma(&self) -> Angle
1σ heading uncertainty.
Sourcepub fn speed_through_water(&self) -> Speed
pub fn speed_through_water(&self) -> Speed
Estimated speed through the water along the heading.
Sourcepub fn speed_sigma(&self) -> Speed
pub fn speed_sigma(&self) -> Speed
1σ speed uncertainty.
Sourcepub fn velocity_over_ground(&self) -> Vector3<Ned, Speed>
pub fn velocity_over_ground(&self) -> Vector3<Ned, Speed>
Ground velocity: water velocity plus current.
Sourcepub fn ground_track(&self) -> Option<GroundTrack>
pub fn ground_track(&self) -> Option<GroundTrack>
Course and speed made good; None if the vessel is not moving.
Sourcepub fn horizontal_error(&self) -> ErrorEllipse
pub fn horizontal_error(&self) -> ErrorEllipse
1σ position error ellipse.
Sourcepub fn project(&self) -> NavigationSnapshot
pub fn project(&self) -> NavigationSnapshot
Read model for displays and alarms.
Position status is Valid (the estimator’s committed belief), sigma is
the ellipse’s equivalent radius. Age and staleness are left to the
caller, who knows the current time.