Function closed_loop 

pub fn closed_loop(
    ukf: &mut UKF,
    stream: EventStream,
) -> Result<Vec<NavigationResult>>

Closed-loop GPS-aided inertial navigation simulation.

This function simulates a closed-loop full-state navigation system where GPS measurements are used to correct the inertial navigation solution. It implements an Unscented Kalman Filter (UKF) to propagate the state and update it with GPS measurements when available.

Arguments

• records - Vector of test data records containing IMU measurements and GPS data.

Returns

• Vec<NavigationResult> - A vector of navigation results containing the state estimates and covariances at each timestamp.