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 serial;
10pub mod smoother;
11pub mod state;
12pub mod tight;
13pub mod timesync;
14pub mod ukf;
15
16pub use crate::inertial::*;
17pub use ekf::{
18    apply_closed_loop_error, ekf_correct_closed_loop, joseph_covariance_update, EkfCorrection,
19    EkfCorrectionReport, EkfUpdateOptions, InnovationGate, InnovationGateReport,
20};
21pub use error_state::{
22    error_state_process_noise_discrete, error_state_system_matrix_ecef,
23    error_state_transition_matrix, linearize_error_state_ecef, predict_error_state_covariance,
24    ErrorStateImuKinematics, ErrorStateLinearization,
25};
26pub use loose::{
27    loose_coupling_correction, FusionUpdate, GnssFixMeasurement, IggIiiMeasurementReweighting,
28    InertialFilter, InertialFilterConfig, LooseCouplingConfig, YangPredictionAdaptiveFactor,
29};
30pub use serial::{
31    F64Bits, FusionStateCodecError, SerializableErrorStateLayout, SerializableFusionSnapshot,
32    SerializableFusionState, SerializableImuSample, SerializableImuSampleKind,
33    SerializableInsFilterState, SerializableLooseMeasurement, SerializableNavState,
34    SerializableRateEndpoint, SerializableSatelliteId, SerializableStoredCheckpoint,
35    SerializableStoredGnssMeasurement, SerializableStoredImuSample,
36    SerializableTightCarrierPhaseObservation, SerializableTightFilterState,
37    SerializableTightGnssEpoch, SerializableTightGnssObservation,
38    SerializableTightRangeRateObservation, SerializableTimeSyncHistory,
39    SerializableTimeSyncHistoryConfig, FUSION_STATE_CODEC_VERSION,
40};
41pub use smoother::{
42    smooth_fusion_rts, FusionRtsEpoch, FusionRtsHistory, FusionRtsHistoryBuilder,
43    SmoothedFusionEpoch, SmoothedFusionTrajectory,
44};
45pub use state::{
46    covariance_is_positive_semidefinite, reproject_covariance_psd, validate_covariance_matrix,
47    ErrorStateLayout, ErrorStateVector, FusionError, FusionFilterKind, InsFilterState,
48    ERROR_ACCEL_BIAS_INDEX, ERROR_ACCEL_SCALE_INDEX, ERROR_ATTITUDE_INDEX, ERROR_GYRO_BIAS_INDEX,
49    ERROR_GYRO_SCALE_INDEX, ERROR_MOUNTING_MISALIGNMENT_INDEX,
50    ERROR_MOUNTING_MISALIGNMENT_STATE_COUNT, ERROR_POSITION_INDEX, ERROR_STATE_DIMENSION_15,
51    ERROR_STATE_DIMENSION_21, ERROR_VELOCITY_INDEX,
52};
53pub use tight::{
54    TightCarrierPhaseObservation, TightClockState, TightCouplingConfig, TightFilterSnapshot,
55    TightGnssEpoch, TightGnssObservation, TightRangeRateObservation, TIGHT_CLOCK_BIAS_OFFSET,
56    TIGHT_CLOCK_DRIFT_OFFSET, TIGHT_CLOCK_STATE_COUNT,
57};
58pub use timesync::{
59    validate_time_sync_gnss_order, validate_time_sync_imu_order, InertialFilterSnapshot,
60    TimeSyncHistoryConfig, TimeSyncHistoryStatus, TimeSyncUpdate,
61    DEFAULT_TIME_SYNC_CHECKPOINT_CAPACITY, DEFAULT_TIME_SYNC_IMU_CAPACITY,
62};
63pub use ukf::{ukf_correct_closed_loop, UkfUpdateOptions, UnscentedTransformOptions};
sidereon_core/fusion/mod.rs

sidereon_core/fusion/
mod.rs
