Expand description
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 serial::F64Bits;pub use serial::FusionStateCodecError;pub use serial::SerializableErrorStateLayout;pub use serial::SerializableFusionSnapshot;pub use serial::SerializableFusionState;pub use serial::SerializableImuSample;pub use serial::SerializableImuSampleKind;pub use serial::SerializableInsFilterState;pub use serial::SerializableLooseMeasurement;pub use serial::SerializableRateEndpoint;pub use serial::SerializableSatelliteId;pub use serial::SerializableStoredCheckpoint;pub use serial::SerializableStoredGnssMeasurement;pub use serial::SerializableStoredImuSample;pub use serial::SerializableTightCarrierPhaseObservation;pub use serial::SerializableTightFilterState;pub use serial::SerializableTightGnssEpoch;pub use serial::SerializableTightGnssObservation;pub use serial::SerializableTightRangeRateObservation;pub use serial::SerializableTimeSyncHistory;pub use serial::SerializableTimeSyncHistoryConfig;pub use serial::FUSION_STATE_CODEC_VERSION;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 ukf::ukf_correct_closed_loop;pub use ukf::UkfUpdateOptions;pub use ukf::UnscentedTransformOptions;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.
- serial
- Versioned serialization for fusion filter checkpoints.
- 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.
- ukf
- Scaled-sigma-point unscented correction for the fusion error state.