Module velocity 

Single-epoch receiver velocity range-rate model.

This leaf module starts with the deterministic Doppler/range-rate geometry shared by the later least-squares driver: each row compares a measured satellite range rate with the line-of-sight projection of satellite velocity, receiver velocity, receiver clock drift, and satellite clock drift.

use sidereon_core::precise_positioning::{
    predict_range_rate_m_s, solve_velocity, ReceiverVelocityState, VelocityConfig,
    VelocityObservation,
};
use sidereon_core::{GnssSatelliteId, GnssSystem};

let receiver_position_m = [0.0, 0.0, 0.0];
let receiver_velocity_m_s = [3.0, -2.0, 0.5];
let clock_drift_m_s = 0.25;
let satellite_positions_m = [
    [20_200_000.0, 0.0, 0.0],
    [0.0, 21_100_000.0, 0.0],
    [0.0, 0.0, 22_300_000.0],
    [-20_900_000.0, 19_700_000.0, 21_500_000.0],
    [18_600_000.0, -20_400_000.0, 23_100_000.0],
];
let observations = satellite_positions_m
    .iter()
    .enumerate()
    .map(|(idx, satellite_position_m)| {
        let mut observation = VelocityObservation {
            sat: GnssSatelliteId::new(GnssSystem::Gps, (idx + 1) as u8)
                .expect("valid satellite id"),
            satellite_position_m: *satellite_position_m,
            satellite_velocity_m_s: [0.0, 0.0, 0.0],
            measured_range_rate_m_s: 0.0,
            sigma_m_s: 0.1,
            satellite_clock_drift_m_s: 0.0,
        };
        observation.measured_range_rate_m_s = predict_range_rate_m_s(
            &observation,
            ReceiverVelocityState {
                position_m: receiver_position_m,
                velocity_m_s: receiver_velocity_m_s,
                clock_drift_m_s,
            },
        )
        .expect("nonzero synthetic line of sight")
        .range_rate_m_s;
        observation
    })
    .collect::<Vec<_>>();

let solution = solve_velocity(
    &observations,
    receiver_position_m,
    VelocityConfig::default(),
)?;
assert!((solution.velocity_m_s[0] - receiver_velocity_m_s[0]).abs() < 1.0e-9);
assert!((solution.clock_drift_m_s - clock_drift_m_s).abs() < 1.0e-9);

Structs

RangeRatePrediction

Predicted range-rate geometry for one satellite observation.

ReceiverVelocityState

Receiver state used by the range-rate prediction model.

VelocityConfig

Configuration for a single-epoch Doppler/range-rate velocity solve.

VelocityObservation

One Doppler-derived range-rate observation for a satellite.

VelocityRobustConfig

Opt-in robust reweighting configuration for the velocity solve.

VelocitySolution

Receiver velocity solve result for one Doppler/range-rate epoch.

Enums

VelocitySolveError

Error returned by the Doppler/range-rate velocity least-squares solve.

Functions

predict_range_rate_m_s

Predict the range rate for one observation and receiver state.

solve_velocity

Solve receiver velocity and clock drift for one epoch of range-rate observations.

solve_velocity_least_squares

Solve receiver velocity and clock drift from precomputed range-rate observations.