Enum Event 

pub enum Event {
    Imu {
        dt_s: f64,
        imu: IMUData,
        elapsed_s: f64,
    },
    Gnss {
        meas: GPSPositionAndVelocityMeasurement,
        elapsed_s: f64,
    },
    Altitude {
        meas: RelativeAltitudeMeasurement,
        elapsed_s: f64,
    },
    GravityAnomaly {
        meas: GravityAnomalyMeasurement,
        elapsed_s: f64,
    },
    MagneticAnomaly {
        meas: MagneticAnomalyMeasurement,
        elapsed_s: f64,
    },
}

A simulation event delivered to the filter in time order.

Events represent sensor updates or other observations that occur during playback of recorded data. The event stream is built by combining raw logged records with a GnssDegradationConfig (for GNSS scheduling and fault injection), and then fed to the UKF loop.

Each variant bundles both the measurement itself and the elapsed simulation time when it occurred. This allows the filter to advance its state correctly and to process updates at realistic intervals.

Variants

• Imu: An inertial measurement unit (IMU) step, including the time delta since the previous step. Drives the prediction step.
• Gnss: A GNSS position/velocity fix (possibly degraded or spoofed).
• Altitude: A relative altitude or barometric measurement, constraining vertical drift.
• GravityAnomaly: A gravity anomaly measurement, derived from accelerometer or dedicated gravimeter data and matched against a gravity anomaly map.
• MagneticAnomaly: A magnetic anomaly measurement, derived from magnetometer data (magnitude or components) and matched against a magnetic anomaly map.

Extensibility

You can add further variants (e.g., Pressure, SonarDepth, StarTracker) in the same style if more sensors are to be fused.

Example

use strapdown::messages::Event;
use strapdown::IMUData;
use strapdown::filter::{GPSPositionAndVelocityMeasurement, GravityAnomalyMeasurement, MagneticAnomalyMeasurement};
use nalgebra::Vector3;
// An IMU event with 0.01 s timestep
let imu_event = Event::Imu {
    dt_s: 0.01,
    imu: IMUData { accel: Vector3::new(0.0, 0.1, -9.8),
                   gyro: Vector3::new(0.001, 0.0, 0.0) },
    elapsed_s: 1.23,
};

// A GNSS event
let gnss_meas = GPSPositionAndVelocityMeasurement {
    latitude: 39.95,
    longitude: -75.16,
    altitude: 30.0,
    northward_velocity: 0.1,
    eastward_velocity: -0.2,
    horizontal_noise_std: 5.0,
    vertical_noise_std: 10.0,
    velocity_noise_std: 0.2,
};
let gnss_event = Event::Gnss { meas: gnss_meas, elapsed_s: 2.0 };

Variants

Imu

IMU prediction step.

• dt_s: Time delta since the previous event (seconds).
• imu: Inertial data record (accelerometer, gyroscope, etc.).
• elapsed_s: Elapsed simulation time at this event (seconds).

Fields

dt_s: f64

imu: IMUData

elapsed_s: f64

Gnss

GNSS position/velocity measurement (possibly degraded or spoofed).

• meas: GNSS measurement structure.
• elapsed_s: Elapsed simulation time at this fix (seconds).

Fields

meas: GPSPositionAndVelocityMeasurement

elapsed_s: f64

Altitude

Relative altitude or barometric measurement.

• meas: Altitude measurement structure.
• elapsed_s: Elapsed simulation time at this measurement (seconds).

Fields

meas: RelativeAltitudeMeasurement

elapsed_s: f64

GravityAnomaly

Gravity anomaly measurement, used for map matching against known gravity anomalies.

Typically expressed in milligals (mGal).

• meas: Gravity anomaly measurement structure.
• elapsed_s: Elapsed simulation time (seconds).

Fields

meas: GravityAnomalyMeasurement

elapsed_s: f64

MagneticAnomaly

Magnetic anomaly measurement, used for map matching against magnetic anomaly maps.

Typically expressed in nanoteslas (nT).

• meas: Magnetic anomaly measurement structure.
• elapsed_s: Elapsed simulation time (seconds).

Fields

meas: MagneticAnomalyMeasurement

elapsed_s: f64

Trait Implementations

impl Clone for Event

fn clone(&self) -> Event

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Event

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

Formats the value using the given formatter.