Struct GnssFixMeasurement 

pub struct GnssFixMeasurement {
    pub t_j2000_s: f64,
    pub position_ecef_m: [f64; 3],
    pub velocity_ecef_mps: Option<[f64; 3]>,
    pub covariance: Vec<Vec<f64>>,
    pub satellites_used: usize,
    pub solution_valid: bool,
    pub fix_status: GnssFixStatus,
}

GNSS PVT measurement used by the loose-coupled INS update.

The covariance matrix is ordered as [position_x, position_y, position_z] for a position-only fix and as [position_x, position_y, position_z, velocity_x, velocity_y, velocity_z] when velocity is present.

Fields

t_j2000_s: f64

Measurement epoch in seconds since J2000 on the caller’s GNSS time scale.

position_ecef_m: [f64; 3]

GNSS antenna position in ECEF meters.

velocity_ecef_mps: Option<[f64; 3]>

Optional GNSS antenna velocity in ECEF meters per second.

covariance: Vec<Vec<f64>>

Measurement covariance in the order documented on this type.

satellites_used: usize

Number of satellites used by the upstream GNSS fix.

solution_valid: bool

Whether the upstream GNSS solver reported a successful fix.

fix_status: GnssFixStatus

Upstream ambiguity or code-only fix class for covariance scaling.

Implementations

impl GnssFixMeasurement

pub fn position( t_j2000_s: f64, position_ecef_m: [f64; 3], position_covariance_m2: [[f64; 3]; 3], satellites_used: usize, ) -> Result<GnssFixMeasurement, FusionError>

Build a position-only GNSS fix measurement.

pub fn position_velocity( t_j2000_s: f64, position_ecef_m: [f64; 3], velocity_ecef_mps: [f64; 3], covariance: Vec<Vec<f64>>, satellites_used: usize, ) -> Result<GnssFixMeasurement, FusionError>

Build a position and velocity GNSS fix measurement.

pub fn with_fix_status(self, fix_status: GnssFixStatus) -> GnssFixMeasurement

Return this measurement tagged with an upstream fix status.

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

Validate finite values, solver status, satellite count, and covariance.

pub fn row_count(&self) -> usize

Return the number of measurement rows implied by this fix.

Trait Implementations

impl Clone for GnssFixMeasurement

fn clone(&self) -> GnssFixMeasurement

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GnssFixMeasurement

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

Formats the value using the given formatter.

impl PartialEq for GnssFixMeasurement

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for GnssFixMeasurement