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 static_reference_station; // RINEX reference-station static solve
122mod tropo; // Saastamoinen zenith + Niell (NMF) mapping troposphere
123pub mod velocity; // receiver velocity / clock-drift least-squares solve
124
125mod error;
126pub mod frame;
127pub mod frame_catalog;
128mod id;
129
130pub mod atmosphere;
131pub mod combinations;
132pub mod dgnss;
133pub mod ephemeris;
134pub mod estimation; // Phase-2 estimation substrate: named operation-order recipes
135pub mod geodesic; // WGS84 geodesic direct and inverse solvers
136pub mod geodetic_time_series; // robust station velocity, trajectory, steps, and fields
137pub mod geofence; // geodesic geofence containment and uncertainty gates
138pub mod geoid; // geoid undulation grid + bilinear interpolation (orthometric heights)
139pub mod geometry;
140pub mod geometry_quality;
141pub mod ils; // integer least squares ambiguity-resolution kernels
142pub mod inertial; // ECEF strapdown INS frames, mechanization, and IMU error model
143pub mod integrity; // shared protection and covariance primitives
144pub mod observation_qc; // RINEX observation completeness and signal rollups
145pub mod qc_obs {
146    //! RINEX observation quality-control rollups.
147    pub use crate::observation_qc::*;
148}
149pub mod orbit;
150pub mod orbit_determination;
151pub mod positioning;
152pub mod prelude;
153pub mod quality; // measurement weighting, RAIM, and FDE integrity checks
154pub mod rinex;
155pub mod rtk_filter; // sequential RTK baseline filter - serializable state ABI (kernel migration)
156pub mod terrain;
157pub mod terrain_store;
158pub mod tides;
159pub mod tolerances;
160
161pub mod fusion; // GNSS/INS error-state prediction and EKF correction over the inertial surface
162
163pub use crate::astro::frames::{
164    EarthOrientation, EarthOrientationProvider, PolarMotionSample,
165    PolarMotionSeriesEarthOrientationProvider, TdbEarthOrientationProvider,
166};
167pub use crate::error_metrics::{
168    error_ellipse_from_enu_m2, horizontal_radius_at, metrics_from_ecef_covariance_m2,
169    metrics_from_enu_covariance_m2, metrics_from_kinematic_solution,
170    metrics_from_position_covariance, spherical_radius_at, vertical_radius_at, ErrorEllipse,
171    ErrorMetricsError, PercentileRadius, PositionErrorMetrics,
172};
173pub use crate::estimation::{
174    alpha_beta_apply_measurement, alpha_beta_filter_step, alpha_beta_predict,
175    alpha_beta_steady_state_gains, cfar_ca_false_alarm_probability, cfar_ca_multiplier_from_pfa,
176    cfar_ca_pfa_from_multiplier, cfar_ca_threshold, ewma_update, ewma_update_power_of_two,
177    kalman_cv_steady_state_gains, mad_spread, nis_expected_value, nis_gate_test,
178    nis_gate_threshold, nis_statistic, normalized_innovation, rts_smooth, smooth_track_rts,
179    AlphaBetaGains, AlphaBetaState, AlphaBetaStep, PrimitiveError, ScalarKalmanGains,
180    SmoothedTrack, SmoothedTrackEpoch, TrackCoordinateFrame, TrackError, TrackFilter,
181    TrackFilterConfig, TrackGatedUpdate, TrackInnovation, TrackPrediction, TrackRtsEpoch,
182    TrackRtsHistory, TrackRtsHistoryBuilder, TrackState, TrackUpdate, MAD_GAUSSIAN_CONSISTENCY,
183};
184pub use crate::quality::{
185    reliability_araim, reliability_design, wtest_noncentrality, wtest_noncentrality_components,
186    ObservationReliability, RangeReliabilityRow, ReliabilityOptions, ReliabilityReport,
187    ReliabilitySummary, WtestNoncentralityComponents,
188};
189pub use araim::ProtectionModel;
190pub use error::{Error, Result};
191pub use frame::{
192    geodetic_to_itrf, itrf_to_geodetic, FrameValueError, ItrfPositionM, ItrfVelocityMS,
193    Wgs84Geodetic,
194};
195pub use frame_catalog::{
196    catalog, catalog_entry, propagate_position, transform, transform_from_epoch, FrameCatalogError,
197    HelmertParameters, HelmertRates, HelmertTransform, TerrestrialFrame, TerrestrialPositionM,
198    TerrestrialState, TerrestrialVelocityMPerYear, TERRESTRIAL_FRAME_CATALOG,
199};
200pub use fusion::{
201    loose_coupling_correction, smooth_fusion_rts, ukf_correct_closed_loop,
202    validate_time_sync_gnss_order, validate_time_sync_imu_order, velocity_match_outage,
203    velocity_match_outage_to_state, F64Bits, FusionFilterKind, FusionRtsEpoch, FusionRtsHistory,
204    FusionRtsHistoryBuilder, FusionStateCodecError, FusionUpdate, GnssFixMeasurement,
205    GnssFixStatus, GnssFixStatusWeighting, IggIiiMeasurementReweighting, InertialFilter,
206    InertialFilterConfig, LooseCouplingConfig, NonHolonomicConstraintConfig,
207    SerializableErrorStateLayout, SerializableFusionSnapshot, SerializableFusionState,
208    SerializableGnssFixStatus, SerializableImuSample, SerializableImuSampleKind,
209    SerializableInsFilterState, SerializableLooseMeasurement, SerializableNavState,
210    SerializableRateEndpoint, SerializableSatelliteId, SerializableStationarityDetectorSample,
211    SerializableStoredCheckpoint, SerializableStoredGnssMeasurement, SerializableStoredImuSample,
212    SerializableTightCarrierPhaseObservation, SerializableTightFilterState,
213    SerializableTightGnssEpoch, SerializableTightGnssObservation,
214    SerializableTightRangeRateObservation, SerializableTimeSyncHistory,
215    SerializableTimeSyncHistoryConfig, SmoothedFusionEpoch, SmoothedFusionTrajectory,
216    StationarityDetectorSnapshotSample, StationaryDetectorConfig, StationaryUpdateConfig,
217    TimeSyncHistoryConfig, TimeSyncHistoryStatus, TimeSyncUpdate, UkfUpdateOptions,
218    UnscentedTransformOptions, VelocityMatchState, VelocityMatchedTrajectory,
219    VelocityMatchingConfig, YangPredictionAdaptiveFactor, DEFAULT_TIME_SYNC_CHECKPOINT_CAPACITY,
220    DEFAULT_TIME_SYNC_IMU_CAPACITY, FUSION_STATE_CODEC_VERSION,
221};
222pub use geodesic::{geodesic_direct, geodesic_inverse, GeodesicError};
223pub use geofence::{
224    containment, containment_probability, containment_probability_with_options, crossing,
225    crossing_probability, crossing_probability_with_options, distance_to_boundary, CrossingEvent,
226    CrossingKind, Fence, GeofenceError, GeofencePositionEstimate, PositionUncertainty,
227    ProbabilityHysteresis, ProbabilityMethod, ProbabilityOptions, GEOFENCE_BOUNDARY_TOLERANCE_M,
228    PLANAR_FAST_PATH_MAX_RADIUS_M,
229};
230pub use geoid::{
231    egm96_undulations_deg, egm96_undulations_rad, ellipsoidal_height_m, geoid_undulation,
232    geoid_undulations_deg, geoid_undulations_rad, orthometric_height_m, Egm2008GridSpacing,
233    Egm2008RasterWindow, GeoidError, GeoidGrid,
234};
235pub use id::{GnssSatelliteId, GnssSystem, SatelliteIdError};
236pub use inertial::{
237    gauss_markov_bias_decay, gauss_markov_bias_variance_increment, gravity_ecef_mps2,
238    mechanize_ecef, normal_gravity_mps2, rodrigues_delta_dcm, simulate_imu_samples,
239    simulate_imu_samples_from_increments, true_imu_increment_between, AttitudeQuaternion,
240    ConingCorrection, CorrectedImuIncrement, ImuBias, ImuCalibration, ImuErrorModel, ImuGrade,
241    ImuRateRandomWalk, ImuSample, ImuSampleKind, ImuSimulationOptions, ImuSimulationOutput,
242    ImuSimulator, ImuSpec, InertialError, MechanizationConfig, NavState, SimulatedImuSequence,
243    StrapdownMechanizer, DEFAULT_IMU_SIM_SEED, WGS84_NORMAL_GRAVITY_EQUATOR_MPS2,
244    WGS84_NORMAL_GRAVITY_POLE_MPS2, WGS84_SOMIGLIANA_K,
245};
246pub use observables::{
247    emission_media_batch_at_j2000_s, observable_media_corrections, predict_batch_with_media,
248    predict_batch_with_media_parallel, predict_ranges_with_media, predict_with_media,
249    AppliedMediaCorrections, EmissionMediaBatch, EmissionMediaBatchOptions, EmissionMediaStatus,
250    MediaPredictOptions, MediaPredictedObservables, MediaRangePrediction,
251    ObservableIonosphereCorrection, ObservableMediaOptions, ObservableTroposphereCorrection,
252};
253pub use sbas_pl::{
254    sbas_protection_levels, AirborneModel, DegradationParams, ProtectionGeometry, ProtectionRow,
255    SbasErrorModel, SbasKMultipliers, SbasPlError, SbasProtection, SbasSisError,
256};
257pub use sidereal::{
258    orbit_repeat_lag, periodicity_strength, periodicity_strength_with_sample_interval,
259    repeat_period, sidereal_filter, solar_day_period, SiderealFilterError, SiderealFilterOptions,
260    SiderealFilterOutput, SiderealTemplateMethod, SIDEREAL_DAY_NANOS, SIDEREAL_DAY_SECONDS,
261};
sidereon_core/lib.rs

sidereon_core/
lib.rs
