Expand description
GNSS estimation substrate (Phase-2).
The Phase-2 redesign collapses the three thick estimator stacks
(spp, rtk/rtk_filter, precise_positioning) onto one shared estimation
substrate plus thin, runtime-selectable strategies. The mechanism that keeps
every external reference bit-exact through the migration is the NAMED recipe:
a strategy selects the floating-point operation order it needs by enum value,
never by owning a private copy of a parity-sensitive helper.
P0 landed recipe - the taxonomy of operation-order variants, each
documented against the current code path it names and defaulting to current
behavior. P1 adds [substrate] with the frame and range kernels; P2 adds the
parameter layout, the weighted measurement row, the measurement covariance
block, and the normal-equation assembler; P3 adds the shared ambiguity and qc
kernels, all routed through by the existing strategies via their current
recipe. P4 adds strategies: the runtime StrategyId selector
(strategies::estimate) that resolves a strategy into its recipe and
screen/ambiguity policy data and dispatches to the technique’s reference
entry point, leaving every existing 0-ULP golden unchanged.
Re-exports§
pub use primitives::alpha_beta_apply_measurement;pub use primitives::alpha_beta_filter_step;pub use primitives::alpha_beta_predict;pub use primitives::alpha_beta_steady_state_gains;pub use primitives::cfar_ca_false_alarm_probability;pub use primitives::cfar_ca_multiplier_from_pfa;pub use primitives::cfar_ca_pfa_from_multiplier;pub use primitives::cfar_ca_threshold;pub use primitives::ewma_update;pub use primitives::ewma_update_power_of_two;pub use primitives::kalman_cv_steady_state_gains;pub use primitives::mad_spread;pub use primitives::nis_expected_value;pub use primitives::nis_gate_test;pub use primitives::nis_gate_threshold;pub use primitives::nis_statistic;pub use primitives::normalized_innovation;pub use primitives::AlphaBetaGains;pub use primitives::AlphaBetaState;pub use primitives::AlphaBetaStep;pub use primitives::PrimitiveError;pub use primitives::ScalarKalmanGains;pub use primitives::MAD_GAUSSIAN_CONSISTENCY;pub use recipe::AmbiguityIdPolicy;pub use recipe::DifferencingMode;pub use recipe::EstimationRecipe;pub use recipe::FrameRecipe;pub use recipe::NormalRecipe;pub use recipe::PartialResolution;pub use recipe::RangeRecipe;pub use recipe::ReferenceTarget;pub use recipe::ResidualNormRecipe;pub use recipe::SagnacRecipe;pub use recipe::ScreenKind;pub use recipe::SolverRecipe;pub use recipe::StrategyId;pub use recipe::Technique;pub use strategies::estimate;pub use strategies::EstimateError;pub use strategies::EstimateInput;pub use strategies::EstimateOptions;pub use strategies::EstimateOutput;pub use strategies::ResolvedStrategy;
Modules§
- primitives
- Estimation and detection primitives.
- recipe
- Named operation-order recipes for the GNSS estimation substrate.
- strategies
- Runtime-selectable estimation strategies (Phase-2 P4, driving in 2b).