Module fusion 

GNSS/INS fusion primitives.

The module keeps the already-merged inertial mechanization surface available while adding the indirect error-state prediction and EKF correction core.

Re-exports

pub use ekf::apply_closed_loop_error;

pub use ekf::ekf_correct_closed_loop;

pub use ekf::joseph_covariance_update;

pub use ekf::EkfCorrection;

pub use ekf::EkfCorrectionReport;

pub use ekf::EkfUpdateOptions;

pub use ekf::InnovationGate;

pub use ekf::InnovationGateReport;

pub use error_state::error_state_process_noise_discrete;

pub use error_state::error_state_system_matrix_ecef;

pub use error_state::error_state_transition_matrix;

pub use error_state::linearize_error_state_ecef;

pub use error_state::predict_error_state_covariance;

pub use error_state::ErrorStateImuKinematics;

pub use error_state::ErrorStateLinearization;

pub use loose::loose_coupling_correction;

pub use loose::FusionUpdate;

pub use loose::GnssFixMeasurement;

pub use loose::InertialFilter;

pub use loose::InertialFilterConfig;

pub use loose::LooseCouplingConfig;

pub use state::covariance_is_positive_semidefinite;

pub use state::reproject_covariance_psd;

pub use state::validate_covariance_matrix;

pub use state::ErrorStateLayout;

pub use state::ErrorStateVector;

pub use state::FusionError;

pub use state::FusionFilterKind;

pub use state::InsFilterState;

pub use state::ERROR_ACCEL_BIAS_INDEX;

pub use state::ERROR_ACCEL_SCALE_INDEX;

pub use state::ERROR_ATTITUDE_INDEX;

pub use state::ERROR_GYRO_BIAS_INDEX;

pub use state::ERROR_GYRO_SCALE_INDEX;

pub use state::ERROR_MOUNTING_MISALIGNMENT_INDEX;

pub use state::ERROR_MOUNTING_MISALIGNMENT_STATE_COUNT;

pub use state::ERROR_POSITION_INDEX;

pub use state::ERROR_STATE_DIMENSION_15;

pub use state::ERROR_STATE_DIMENSION_21;

pub use state::ERROR_VELOCITY_INDEX;

pub use tight::TightCarrierPhaseObservation;

pub use tight::TightClockState;

pub use tight::TightCouplingConfig;

pub use tight::TightFilterSnapshot;

pub use tight::TightGnssEpoch;

pub use tight::TightGnssObservation;

pub use tight::TightRangeRateObservation;

pub use tight::TIGHT_CLOCK_BIAS_OFFSET;

pub use tight::TIGHT_CLOCK_DRIFT_OFFSET;

pub use tight::TIGHT_CLOCK_STATE_COUNT;

pub use timesync::validate_time_sync_gnss_order;

pub use timesync::validate_time_sync_imu_order;

pub use timesync::InertialFilterSnapshot;

pub use timesync::TimeSyncHistoryConfig;

pub use timesync::TimeSyncHistoryStatus;

pub use timesync::TimeSyncUpdate;

pub use timesync::DEFAULT_TIME_SYNC_CHECKPOINT_CAPACITY;

pub use timesync::DEFAULT_TIME_SYNC_IMU_CAPACITY;

pub use crate::inertial::*;

Modules

ekf

Generic EKF correction and closed-loop reset for the indirect INS state.

error_state

ECEF indirect error-state system model and covariance prediction.

loose

Loosely coupled GNSS PVT updates for the INS error-state filter.

state

Error-state layout, filter state, and covariance validation.

tight

Tightly coupled raw GNSS updates for the INS error-state filter.

timesync

Time alignment for loosely coupled GNSS/INS updates.