sidereon_core/
lib.rs

1//! # sidereon-core
2//!
3//! The complete Sidereon engine in one crate. It folds the numerical
4//! astrodynamics core (orbit propagation, force models, frames, time, SGP4)
5//! together with the GNSS domain layer (SP3, broadcast ephemeris, multi-GNSS
6//! positioning, RTK/PPP, ionosphere/troposphere, DOP).
7//!
8//! - The propagation/astro layer is always present under the [`astro`] module.
9//! - The GNSS layer lives behind the default-on `gnss` cargo feature, so a
10//!   propagation-only consumer can build with `--no-default-features` (plus
11//!   any astro features it wants) and never compile the IONEX/SP3 parsers.
12//!
13//! The GNSS façade is organized by user-facing tasks:
14//!
15//! - [`ephemeris`] - precise SP3 and broadcast ephemeris products,
16//! - [`rinex`] - RINEX navigation/observation parsing and CRINEX decoding,
17//! - [`antex`] - ANTEX receiver and satellite antenna calibration parsing,
18//! - [`combinations`] - observable linear combinations such as ionosphere-free,
19//! - [`observables`] - forward range, Doppler, and azimuth/elevation prediction,
20//! - [`velocity`] - receiver velocity and clock-drift solve from range-rate data,
21//! - [`positioning`] - single-point positioning and DOP diagnostics,
22//! - [`dgnss`] - code-differential pseudorange correction and rover pairing,
23//! - [`quality`] - pseudorange weighting, RAIM, and FDE integrity checks,
24//! - [`observation_qc`] - RINEX observation completeness and signal rollups,
25//! - [`signal`] - GPS C/A code generation, correlation, and acquisition,
26//! - [`ppp_corrections`] - static-arc PPP correction precomputation,
27//! - [`atmosphere`] - ionosphere and troposphere corrections,
28//! - [`scenario`] - deterministic synthetic GNSS observation scenarios,
29//! - [`orbit`] - compact reduced-orbit fitting/evaluation.
30//!
31//! Implementation modules (`sp3`, `rinex_nav`, `spp`, etc.) are crate-private.
32//! This is a clean public surface rather than a compatibility shim around the
33//! original implementation-shaped module layout.
34//!
35//! ## Units policy (internal representation)
36//!
37//! All quantities are stored and computed in **SI base units**, with the frame
38//! and datum encoded in the type name (per the spec's frames-in-the-type-system
39//! rule), never hidden behind a bare `position_m`:
40//!
41//! - **Length / position:** meters (`_m`). SP3 positions are ITRF/IGS-frame
42//!   ECEF meters; SPP receiver positions are WGS84/ITRF-compatible ECEF meters.
43//!   (The [`astro`] state layer works in kilometers; conversions happen
44//!   explicitly at the boundary, never implicitly.)
45//! - **Time / clock:** seconds (`_s`). Epochs are represented by the [`astro`]
46//!   time family (`Instant`/`TimeScale`), always scale-tagged; there is no bare
47//!   ambiguous epoch.
48//! - **Velocity:** meters per second (`_m_s`).
49//! - **Angles:** radians (`_rad`) internally. Degrees appear only at I/O edges
50//!   and are named `_deg`.
51//! - **Frequency:** hertz (`_hz`).
52//!
53//! Field and parameter names carry the unit suffix so the unit is visible at
54//! every call site. Matrix/vector linear algebra uses `nalgebra`
55//! (`DMatrix`/`DVector`) per the spec.
56
57extern crate self as sidereon_core;
58
59// ---------------------------------------------------------------------------
60// Astro / propagation layer. Always present. The GNSS layer below depends on
61// it via `crate::astro::*`.
62// ---------------------------------------------------------------------------
63
64mod validate;
65
66#[cfg(all(test, sidereon_repo_tests))]
67mod test_parity;
68
69pub mod astro;
70pub(crate) mod format;
71
72// ---------------------------------------------------------------------------
73// GNSS domain layer. Behind the default-on `gnss` feature so a propagation-only
74// consumer can opt out. Additional product modules are added as each lands.
75// ---------------------------------------------------------------------------
76
77mod ambiguity; // shared RTK/PPP cycle-slip policy + wide-lane/narrow-lane prep
78mod antenna; // shared ANTEX PCV/PCO zenith/azimuth interpolation kernels
79pub mod antex; // ANTEX receiver/satellite antenna parser + PCO/PCV lookup
80pub mod araim; // advanced RAIM multi-hypothesis protection levels
81pub mod bias; // Bias-SINEX and DCB bias products
82mod broadcast; // broadcast-ephemeris (GPS LNAV / Galileo I/NAV) orbit + clock
83pub mod broadcast_comparison; // broadcast-vs-precise (SISRE orbit/clock) accuracy
84pub mod carrier_phase; // carrier-phase combinations, cycle-slip detection, Hatch smoothing
85pub mod clock_stability; // Allan-family receiver clock stability estimators
86pub mod constants; // shared physical/time constants (used by astro + gnss)
87pub mod constellation; // GNSS constellation identity catalog (CelesTrak/NAVCEN)
88mod crinex; // Hatanaka (CRINEX) observation-file decoder
89pub mod data; // sans-IO GNSS product filename and archive URL catalog
90pub mod dop; // dilution-of-precision geometry (GDOP/PDOP/HDOP/VDOP/TDOP)
91pub mod error_metrics; // covariance-derived CEP, radial, and ellipse metrics
92pub mod frequencies; // canonical GNSS carrier-frequency table
93mod glonass; // GLONASS PZ-90.11 state-vector RK4 propagation
94pub mod has; // Galileo HAS MT1 correction payload decode/encode
95mod ionex; // Klobuchar broadcast model + IONEX ionospheric maps
96pub mod navigation; // navigation-message bit-level codecs (GPS LNAV)
97pub mod nmea; // NMEA 0183 sentence parsing, stream grouping, and GGA writing
98pub mod ntrip; // NTRIP client sans-I/O request, response, and stream handling
99pub mod observables; // forward GNSS observable prediction
100pub mod ppp_corrections; // static-arc PPP correction tables
101pub mod precise_positioning; // static multi-epoch PPP float solve
102mod reduced_orbit; // compact mean-element orbit approximation (fitted)
103mod rinex_clock; // RINEX clock satellite-bias parsing and interpolation
104mod rinex_common; // shared RINEX header concepts (time-system label mapping)
105mod rinex_nav; // RINEX 3 navigation-message parsing (GPS/Galileo broadcast)
106mod rinex_obs; // RINEX 3 observation parsing + single-frequency pseudoranges
107mod rinex_qc; // RINEX observation/navigation lint and mechanical repair
108pub mod rtcm; // RTCM 3 differential-GNSS stream decode/encode (MSM, station, ephemeris)
109pub mod rtk; // RTK double-difference construction
110pub mod sbas;
111pub mod sbas_pl; // SBAS single-hypothesis protection levels
112pub mod scenario; // scenario-driven synthetic GNSS observable generation
113pub mod sidereal; // repeating-geometry residual filtering and period diagnostics
114pub mod signal; // GPS C/A code, coherent correlation, and acquisition
115pub mod source_localization; // ToA/TDOA source localization from arrival times
116mod sp3; // SP3-c / SP3-d parser + arbitrary-epoch interpolation
117mod spp; // single-point positioning (least-squares PVT)
118pub mod ssr; // SSR correction store and corrected broadcast ephemeris source
119pub mod staleness; // product-staleness graceful degradation for time-varying products
120mod static_positioning; // multi-epoch static position fusion
121mod tropo; // Saastamoinen zenith + Niell (NMF) mapping troposphere
122pub mod velocity; // receiver velocity / clock-drift least-squares solve
123
124mod error;
125pub mod frame;
126pub mod frame_catalog;
127mod id;
128
129pub mod atmosphere;
130pub mod combinations;
131pub mod dgnss;
132pub mod ephemeris;
133pub mod estimation; // Phase-2 estimation substrate: named operation-order recipes
134pub mod geodesic; // WGS84 geodesic direct and inverse solvers
135pub mod geodetic_time_series; // robust station velocity, trajectory, steps, and fields
136pub mod geofence; // geodesic geofence containment and uncertainty gates
137pub mod geoid; // geoid undulation grid + bilinear interpolation (orthometric heights)
138pub mod geometry;
139pub mod geometry_quality;
140pub mod ils; // integer least squares ambiguity-resolution kernels
141pub mod inertial; // ECEF strapdown INS frames, mechanization, and IMU error model
142pub mod integrity; // shared protection and covariance primitives
143pub mod observation_qc; // RINEX observation completeness and signal rollups
144pub mod qc_obs {
145    //! RINEX observation quality-control rollups.
146    pub use crate::observation_qc::*;
147}
148pub mod orbit;
149pub mod orbit_determination;
150pub mod positioning;
151pub mod prelude;
152pub mod quality; // measurement weighting, RAIM, and FDE integrity checks
153pub mod rinex;
154pub mod rtk_filter; // sequential RTK baseline filter - serializable state ABI (kernel migration)
155pub mod terrain;
156pub mod terrain_store;
157pub mod tides;
158pub mod tolerances;
159
160pub mod fusion; // GNSS/INS error-state prediction and EKF correction over the inertial surface
161
162pub use crate::astro::frames::{
163    EarthOrientation, EarthOrientationProvider, PolarMotionSample,
164    PolarMotionSeriesEarthOrientationProvider, TdbEarthOrientationProvider,
165};
166pub use crate::error_metrics::{
167    error_ellipse_from_enu_m2, horizontal_radius_at, metrics_from_ecef_covariance_m2,
168    metrics_from_enu_covariance_m2, metrics_from_kinematic_solution,
169    metrics_from_position_covariance, spherical_radius_at, vertical_radius_at, ErrorEllipse,
170    ErrorMetricsError, PercentileRadius, PositionErrorMetrics,
171};
172pub use crate::estimation::{
173    alpha_beta_apply_measurement, alpha_beta_filter_step, alpha_beta_predict,
174    alpha_beta_steady_state_gains, cfar_ca_false_alarm_probability, cfar_ca_multiplier_from_pfa,
175    cfar_ca_pfa_from_multiplier, cfar_ca_threshold, ewma_update, ewma_update_power_of_two,
176    kalman_cv_steady_state_gains, mad_spread, nis_expected_value, nis_gate_test,
177    nis_gate_threshold, nis_statistic, normalized_innovation, rts_smooth, smooth_track_rts,
178    AlphaBetaGains, AlphaBetaState, AlphaBetaStep, PrimitiveError, ScalarKalmanGains,
179    SmoothedTrack, SmoothedTrackEpoch, TrackCoordinateFrame, TrackError, TrackFilter,
180    TrackFilterConfig, TrackGatedUpdate, TrackInnovation, TrackPrediction, TrackRtsEpoch,
181    TrackRtsHistory, TrackRtsHistoryBuilder, TrackState, TrackUpdate, MAD_GAUSSIAN_CONSISTENCY,
182};
183pub use crate::quality::{
184    reliability_araim, reliability_design, wtest_noncentrality, wtest_noncentrality_components,
185    ObservationReliability, RangeReliabilityRow, ReliabilityOptions, ReliabilityReport,
186    ReliabilitySummary, WtestNoncentralityComponents,
187};
188pub use araim::ProtectionModel;
189pub use error::{Error, Result};
190pub use frame::{
191    geodetic_to_itrf, itrf_to_geodetic, FrameValueError, ItrfPositionM, ItrfVelocityMS,
192    Wgs84Geodetic,
193};
194pub use frame_catalog::{
195    catalog, catalog_entry, propagate_position, transform, transform_from_epoch, FrameCatalogError,
196    HelmertParameters, HelmertRates, HelmertTransform, TerrestrialFrame, TerrestrialPositionM,
197    TerrestrialState, TerrestrialVelocityMPerYear, TERRESTRIAL_FRAME_CATALOG,
198};
199pub use fusion::{
200    loose_coupling_correction, smooth_fusion_rts, ukf_correct_closed_loop,
201    validate_time_sync_gnss_order, validate_time_sync_imu_order, F64Bits, FusionFilterKind,
202    FusionRtsEpoch, FusionRtsHistory, FusionRtsHistoryBuilder, FusionStateCodecError, FusionUpdate,
203    GnssFixMeasurement, IggIiiMeasurementReweighting, InertialFilter, InertialFilterConfig,
204    LooseCouplingConfig, SerializableErrorStateLayout, SerializableFusionSnapshot,
205    SerializableFusionState, SerializableImuSample, SerializableImuSampleKind,
206    SerializableInsFilterState, SerializableLooseMeasurement, SerializableNavState,
207    SerializableRateEndpoint, SerializableSatelliteId, SerializableStoredCheckpoint,
208    SerializableStoredGnssMeasurement, SerializableStoredImuSample,
209    SerializableTightCarrierPhaseObservation, SerializableTightFilterState,
210    SerializableTightGnssEpoch, SerializableTightGnssObservation,
211    SerializableTightRangeRateObservation, SerializableTimeSyncHistory,
212    SerializableTimeSyncHistoryConfig, SmoothedFusionEpoch, SmoothedFusionTrajectory,
213    TimeSyncHistoryConfig, TimeSyncHistoryStatus, TimeSyncUpdate, UkfUpdateOptions,
214    UnscentedTransformOptions, YangPredictionAdaptiveFactor, DEFAULT_TIME_SYNC_CHECKPOINT_CAPACITY,
215    DEFAULT_TIME_SYNC_IMU_CAPACITY, FUSION_STATE_CODEC_VERSION,
216};
217pub use geodesic::{geodesic_direct, geodesic_inverse, GeodesicError};
218pub use geofence::{
219    containment, containment_probability, containment_probability_with_options, crossing,
220    crossing_probability, crossing_probability_with_options, distance_to_boundary, CrossingEvent,
221    CrossingKind, Fence, GeofenceError, GeofencePositionEstimate, PositionUncertainty,
222    ProbabilityHysteresis, ProbabilityMethod, ProbabilityOptions, GEOFENCE_BOUNDARY_TOLERANCE_M,
223    PLANAR_FAST_PATH_MAX_RADIUS_M,
224};
225pub use geoid::{
226    egm96_undulations_deg, egm96_undulations_rad, ellipsoidal_height_m, geoid_undulation,
227    geoid_undulations_deg, geoid_undulations_rad, orthometric_height_m, Egm2008GridSpacing,
228    Egm2008RasterWindow, GeoidError, GeoidGrid,
229};
230pub use id::{GnssSatelliteId, GnssSystem, SatelliteIdError};
231pub use inertial::{
232    gauss_markov_bias_decay, gauss_markov_bias_variance_increment, gravity_ecef_mps2,
233    mechanize_ecef, normal_gravity_mps2, rodrigues_delta_dcm, simulate_imu_samples,
234    simulate_imu_samples_from_increments, true_imu_increment_between, AttitudeQuaternion,
235    ConingCorrection, CorrectedImuIncrement, ImuBias, ImuCalibration, ImuErrorModel, ImuGrade,
236    ImuRateRandomWalk, ImuSample, ImuSampleKind, ImuSimulationOptions, ImuSimulationOutput,
237    ImuSimulator, ImuSpec, InertialError, MechanizationConfig, NavState, SimulatedImuSequence,
238    StrapdownMechanizer, DEFAULT_IMU_SIM_SEED, WGS84_NORMAL_GRAVITY_EQUATOR_MPS2,
239    WGS84_NORMAL_GRAVITY_POLE_MPS2, WGS84_SOMIGLIANA_K,
240};
241pub use observables::{
242    emission_media_batch_at_j2000_s, observable_media_corrections, predict_batch_with_media,
243    predict_batch_with_media_parallel, predict_ranges_with_media, predict_with_media,
244    AppliedMediaCorrections, EmissionMediaBatch, EmissionMediaBatchOptions, EmissionMediaStatus,
245    MediaPredictOptions, MediaPredictedObservables, MediaRangePrediction,
246    ObservableIonosphereCorrection, ObservableMediaOptions, ObservableTroposphereCorrection,
247};
248pub use sbas_pl::{
249    sbas_protection_levels, AirborneModel, DegradationParams, ProtectionGeometry, ProtectionRow,
250    SbasErrorModel, SbasKMultipliers, SbasPlError, SbasProtection, SbasSisError,
251};
252pub use sidereal::{
253    orbit_repeat_lag, periodicity_strength, periodicity_strength_with_sample_interval,
254    repeat_period, sidereal_filter, solar_day_period, SiderealFilterError, SiderealFilterOptions,
255    SiderealFilterOutput, SiderealTemplateMethod, SIDEREAL_DAY_NANOS, SIDEREAL_DAY_SECONDS,
256};
sidereon_core/lib.rs

sidereon_core/
lib.rs
