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YangPredictionAdaptiveFactor

sidereon_core::fusion::loose

Struct YangPredictionAdaptiveFactor 

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pub struct YangPredictionAdaptiveFactor {
    pub threshold: f64,
    pub outlier_gate_probability: f64,
}
Expand description

Yang two-segment predicted-residual adaptive factor for loose GNSS updates.

threshold is the c value used with the un-square-rooted statistic innovation^T innovation / tr(S). The Jiang-Zhang Sensors 2018 guard is part of this option: if the raw innovation Mahalanobis distance exceeds chi2_inv(outlier_gate_probability, rows), prediction adaptation is disabled for that epoch and measurement-side reweighting handles the fault.

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§threshold: f64

Two-segment threshold c for the predicted-residual statistic.

§outlier_gate_probability: f64

Probability used for the chi-square Mahalanobis measurement-outlier gate.

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impl YangPredictionAdaptiveFactor

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pub const fn standard() -> Self

Conservative default for the un-square-rooted statistic and 99% gate.

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

Validate threshold and chi-square probability.

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impl Clone for YangPredictionAdaptiveFactor

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fn clone(&self) -> YangPredictionAdaptiveFactor

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Copy for YangPredictionAdaptiveFactor

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impl Debug for YangPredictionAdaptiveFactor

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

Formats the value using the given formatter. Read more
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impl PartialEq for YangPredictionAdaptiveFactor

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

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

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

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

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🔬This is a nightly-only experimental API. (clone_to_uninit)
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