Module state 

Error-state layout, filter state, and covariance validation.

Structs

ErrorStateVector

Indirect filter error vector.

InsFilterState

Closed-loop indirect INS filter state.

Enums

ErrorStateLayout

Error-state covariance layout.

FusionError

Error returned by GNSS/INS fusion primitives.

FusionFilterKind

Fusion filter family selector.

Constants

ERROR_ACCEL_BIAS_INDEX

Start index of accelerometer bias error states.

ERROR_ACCEL_SCALE_INDEX

Start index of accelerometer scale-factor error states in the 21-state layout.

ERROR_ATTITUDE_INDEX

Start index of ECEF attitude error states.

ERROR_GYRO_BIAS_INDEX

Start index of gyroscope bias error states.

ERROR_GYRO_SCALE_INDEX

Start index of gyroscope scale-factor error states in the 21-state layout.

ERROR_MOUNTING_MISALIGNMENT_INDEX

Reserved start index for future mounting-misalignment error states.

ERROR_MOUNTING_MISALIGNMENT_STATE_COUNT

Reserved mounting-misalignment state count for a later layout.

ERROR_POSITION_INDEX

Start index of ECEF position error states.

ERROR_STATE_DIMENSION_15

Number of states in the position, velocity, attitude, and bias layout.

ERROR_STATE_DIMENSION_21

Number of states after adding accelerometer and gyroscope scale factors.

ERROR_VELOCITY_INDEX

Start index of ECEF velocity error states.

Functions

covariance_is_positive_semidefinite

Test whether a covariance is positive semidefinite under numerical bounds.

reproject_covariance_psd

Symmetrize and reproject a covariance onto the PSD cone under numerical bounds.

validate_covariance_matrix

Validate covariance shape, finiteness, symmetry, and PSD.