sidereon_core/fusion/
mod.rs

1//! GNSS/INS fusion primitives.
2//!
3//! The module keeps the already-merged inertial mechanization surface available
4//! while adding the indirect error-state prediction and EKF correction core.
5
6pub mod ekf;
7pub mod error_state;
8pub mod loose;
9pub mod state;
10pub mod tight;
11pub mod timesync;
12
13pub use crate::inertial::*;
14pub use ekf::{
15    apply_closed_loop_error, ekf_correct_closed_loop, joseph_covariance_update, EkfCorrection,
16    EkfCorrectionReport, EkfUpdateOptions, InnovationGate, InnovationGateReport,
17};
18pub use error_state::{
19    error_state_process_noise_discrete, error_state_system_matrix_ecef,
20    error_state_transition_matrix, linearize_error_state_ecef, predict_error_state_covariance,
21    ErrorStateImuKinematics, ErrorStateLinearization,
22};
23pub use loose::{
24    loose_coupling_correction, FusionUpdate, GnssFixMeasurement, InertialFilter,
25    InertialFilterConfig, LooseCouplingConfig,
26};
27pub use state::{
28    covariance_is_positive_semidefinite, reproject_covariance_psd, validate_covariance_matrix,
29    ErrorStateLayout, ErrorStateVector, FusionError, FusionFilterKind, InsFilterState,
30    ERROR_ACCEL_BIAS_INDEX, ERROR_ACCEL_SCALE_INDEX, ERROR_ATTITUDE_INDEX, ERROR_GYRO_BIAS_INDEX,
31    ERROR_GYRO_SCALE_INDEX, ERROR_MOUNTING_MISALIGNMENT_INDEX,
32    ERROR_MOUNTING_MISALIGNMENT_STATE_COUNT, ERROR_POSITION_INDEX, ERROR_STATE_DIMENSION_15,
33    ERROR_STATE_DIMENSION_21, ERROR_VELOCITY_INDEX,
34};
35pub use tight::{
36    TightCarrierPhaseObservation, TightClockState, TightCouplingConfig, TightFilterSnapshot,
37    TightGnssEpoch, TightGnssObservation, TightRangeRateObservation, TIGHT_CLOCK_BIAS_OFFSET,
38    TIGHT_CLOCK_DRIFT_OFFSET, TIGHT_CLOCK_STATE_COUNT,
39};
40pub use timesync::{
41    validate_time_sync_gnss_order, validate_time_sync_imu_order, InertialFilterSnapshot,
42    TimeSyncHistoryConfig, TimeSyncHistoryStatus, TimeSyncUpdate,
43    DEFAULT_TIME_SYNC_CHECKPOINT_CAPACITY, DEFAULT_TIME_SYNC_IMU_CAPACITY,
44};
sidereon_core/fusion/mod.rs

sidereon_core/fusion/
mod.rs
