Struct VelocityObservation 

pub struct VelocityObservation { /* private fields */ }

Ground velocity (receiver course and speed).

Implementations

impl VelocityObservation

pub fn new( taken_at: Instant<Utc>, velocity: Vector3<Ned, Speed>, sigma: Speed, ) -> Self

Velocity with the same 1σ on each component.

pub fn from_track( taken_at: Instant<Utc>, course: TrueCourse, speed: Speed, sigma: Speed, ) -> Self

Course and speed over ground.

pub fn from_fix(fix: &GnssFix, sigma: Speed) -> Option<Self>

Velocity of a fix, if it reports both course and speed.

pub const fn with_gate(self, gate: GatingPolicy) -> Self

Sets the gate.

pub const fn from_sensor(self, sensor: SensorId) -> Self

Sets the source identifier; differently named receivers are judged separately.

Trait Implementations

impl Clone for VelocityObservation

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 VelocityObservation

impl Debug for VelocityObservation

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

Formats the value using the given formatter.

impl Observation for VelocityObservation

fn predict(&self, state: &NavigationState) -> Result<ObservationVector>

u (cos ψ, sin ψ) + c.

fn sensor(&self) -> SensorId

Source identifier, for reporting and per-source health: the estimator tracks accept/reject runs per SensorId, so differently named receivers are judged separately.

fn taken_at(&self) -> Instant<Utc>

Time of the measurement.

fn measured(&self) -> ObservationVector

Measurement z.

fn jacobian(&self, state: &NavigationState) -> Result<ObservationJacobian>

Jacobian H = ∂h/∂x at x.

fn noise(&self) -> ObservationNoise

Measurement noise R.

fn gate(&self) -> GatingPolicy

Gating policy.

fn innovation( &self, predicted: &ObservationVector, ) -> Result<ObservationVector, KernelError>

Innovation z − h(x).

impl PartialEq for VelocityObservation

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for VelocityObservation