Struct TightCouplingConfig 

pub struct TightCouplingConfig {
    pub lever_arm_body_m: [f64; 3],
    pub light_time: bool,
    pub sagnac: bool,
    pub initial_clock_bias_variance_m2: f64,
    pub initial_clock_drift_variance_m2_s2: f64,
    pub clock_bias_random_walk_m2_s: f64,
    pub clock_drift_random_walk_m2_s3: f64,
    pub update_options: EkfUpdateOptions,
}

Configuration for tightly coupled raw GNSS updates.

Fields

lever_arm_body_m: [f64; 3]

Body-frame vector from IMU origin to GNSS antenna phase center, in meters.

light_time: bool

Apply fixed-count transmit-time light-time correction.

sagnac: bool

Apply Earth-rotation Sagnac correction.

initial_clock_bias_variance_m2: f64

Initial receiver-clock bias variance in square meters.

initial_clock_drift_variance_m2_s2: f64

Initial receiver-clock drift variance in (m/s)^2.

clock_bias_random_walk_m2_s: f64

Receiver-clock bias random-walk spectral density in m^2/s.

clock_drift_random_walk_m2_s3: f64

Receiver-clock drift random-walk spectral density in m^2/s^3.

update_options: EkfUpdateOptions

Generic EKF correction options applied to each tight update.

Implementations

impl TightCouplingConfig

pub fn validate(&self) -> Result<(), FusionError>

Validate lever arm, clock covariance, clock process noise, and update options.

Trait Implementations

impl Clone for TightCouplingConfig

fn clone(&self) -> TightCouplingConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for TightCouplingConfig

impl Debug for TightCouplingConfig

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

Formats the value using the given formatter.

impl Default for TightCouplingConfig

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for TightCouplingConfig

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for TightCouplingConfig