Struct StatePriors 

pub struct StatePriors { /* private fields */ }

Initial 1σ priors where the fix provides none.

A fix usually gives horizontal accuracy, rarely course accuracy, never speed accuracy, and nothing about current. The defaults are deliberately loose: an estimator recovers from a loose prior within a few observations, never from a tight wrong one.

Start from StatePriors::standard and adjust with with_*; each rejects non-positive sigmas, so no component starts as exactly known.

Implementations

impl StatePriors

pub const fn standard() -> Self

Merchant vessel with standard GNSS, gyro and log: 10 m; heading 3°, or 104° (uniform over the circle) if unknown; speed 1 kn, or 10 kn if unknown; current 1 kn.

pub fn with_position(self, sigma: Distance) -> Result<Self>

Sets the horizontal position sigma used when the fix gives no accuracy.

Errors

KernelError::OutOfRange unless positive.

pub fn with_heading(self, known: Angle, unknown: Angle) -> Result<Self>

Sets the heading sigmas: known for a heading without sigma or taken from COG; unknown when neither is available.

Errors

KernelError::OutOfRange unless both positive.

pub fn with_speed(self, known: Speed, unknown: Speed) -> Result<Self>

Sets the speed-through-water sigmas: known when taken from SOG; unknown when the fix has no speed.

Errors

KernelError::OutOfRange unless both positive.

pub fn with_current(self, sigma: Speed) -> Result<Self>

Sets the sigma of each current component (not directly observed).

Errors

KernelError::OutOfRange unless positive.

pub const fn position(&self) -> Distance

Horizontal position, when the fix gives no accuracy.

pub const fn heading(&self) -> Angle

Heading, when given without sigma or taken from COG.

pub const fn heading_unknown(&self) -> Angle

Heading, when neither heading nor course is available.

pub const fn speed(&self) -> Speed

Speed through the water, taken from SOG.

pub const fn speed_unknown(&self) -> Speed

Speed through the water, when the fix has no speed.

pub const fn current(&self) -> Speed

Each current component.

Trait Implementations

impl Clone for StatePriors

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for StatePriors

impl Debug for StatePriors

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

Formats the value using the given formatter.

impl PartialEq for StatePriors

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for StatePriors