Struct NavigationResult 

pub struct NavigationResult {

    pub timestamp: DateTime<Utc>,
    pub latitude: f64,
    pub longitude: f64,
    pub altitude: f64,
    pub velocity_north: f64,
    pub velocity_east: f64,
    pub velocity_down: f64,
    pub roll: f64,
    pub pitch: f64,
    pub yaw: f64,
    pub acc_bias_x: f64,
    pub acc_bias_y: f64,
    pub acc_bias_z: f64,
    pub gyro_bias_x: f64,
    pub gyro_bias_y: f64,
    pub gyro_bias_z: f64,
    pub latitude_cov: f64,
    pub longitude_cov: f64,
    pub altitude_cov: f64,
    pub velocity_n_cov: f64,
    pub velocity_e_cov: f64,
    pub velocity_d_cov: f64,
    pub roll_cov: f64,
    pub pitch_cov: f64,
    pub yaw_cov: f64,
    pub acc_bias_x_cov: f64,
    pub acc_bias_y_cov: f64,
    pub acc_bias_z_cov: f64,
    pub gyro_bias_x_cov: f64,
    pub gyro_bias_y_cov: f64,
    pub gyro_bias_z_cov: f64,
}

Generic result struct for navigation simulations.

This structure contains a single row of position, velocity, and attitude vectors representing the navigation solution at a specific timestamp, along with the covariance diagonal, input IMU measurements, and derived geophysical values.

It can be used across different types of navigation simulations such as dead reckoning, Kalman filtering, or any other navigation algorithm.

Fields

timestamp: DateTime<Utc>

Timestamp corresponding to the state

latitude: f64

Latitude in radians

longitude: f64

Longitude in radians

altitude: f64

Altitude in meters

velocity_north: f64

Northward velocity in m/s

velocity_east: f64

Eastward velocity in m/s

velocity_down: f64

Downward velocity in m/s

roll: f64

Roll angle in radians

pitch: f64

Pitch angle in radians

yaw: f64

Yaw angle in radians

acc_bias_x: f64

IMU accelerometer x-axis bias in m/s^2

acc_bias_y: f64

IMU accelerometer y-axis bias in m/s^2

acc_bias_z: f64

IMU accelerometer z-axis bias in m/s^2

gyro_bias_x: f64

IMU gyroscope x-axis bias in radians/s

gyro_bias_y: f64

IMU gyroscope y-axis bias in radians/s

gyro_bias_z: f64

IMU gyroscope z-axis bias in radians/s

latitude_cov: f64

Latitude covariance

longitude_cov: f64

Longitude covariance

altitude_cov: f64

Altitude covariance

velocity_n_cov: f64

Northward velocity covariance

velocity_e_cov: f64

Eastward velocity covariance

velocity_d_cov: f64

Downward velocity covariance

roll_cov: f64

Roll covariance

pitch_cov: f64

Pitch covariance

yaw_cov: f64

Yaw covariance

acc_bias_x_cov: f64

Accelerometer x-axis bias covariance

acc_bias_y_cov: f64

Accelerometer y-axis bias covariance

acc_bias_z_cov: f64

Accelerometer z-axis bias covariance

gyro_bias_x_cov: f64

Gyroscope x-axis bias covariance

gyro_bias_y_cov: f64

Gyroscope y-axis bias covariance

gyro_bias_z_cov: f64

Gyroscope z-axis bias covariance

Implementations

impl NavigationResult

pub fn new() -> Self

Creates a new NavigationResult with default values.

pub fn to_csv<P: AsRef<Path>>(records: &[Self], path: P) -> Result<()>

Writes the NavigationResult to a CSV file.

Arguments

• records - Vector of NavigationResult structs to write
• path - Path where the CSV file will be saved

Returns

• io::Result<()> - Ok if successful, Err otherwise

pub fn from_csv<P: AsRef<Path>>(path: P) -> Result<Vec<Self>, Box<dyn Error>>

Reads a CSV file and returns a vector of NavigationResult structs.

Arguments

• path - Path to the CSV file to read.

Returns

• Ok(Vec<NavigationResult>) if successful.
• Err if the file cannot be read or parsed.

Trait Implementations

impl Clone for NavigationResult

fn clone(&self) -> NavigationResult

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for NavigationResult

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

Formats the value using the given formatter.

impl Default for NavigationResult

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for NavigationResult

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<(&DateTime<Utc>, &Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>, &Matrix<f64, Dyn, Dyn, VecStorage<f64, Dyn, Dyn>>)> for NavigationResult

Convert DVectors containing the navigation state mean and covariance into a NavigationResult struct.

This implementation is useful for converting the output of a Kalman filter or UKF into a NavigationResult, which can then be used for further processing or analysis.

Arguments

• timestamp: The timestamp of the navigation solution.
• state: A DVector containing the navigation state mean.
• covariance: A DMatrix containing the covariance of the state.
• imu_data: An IMUData struct containing the IMU measurements.
• mag_x, mag_y, mag_z: Magnetic field strength in micro teslas.
• pressure: Pressure in millibars.
• freeair: Free-air gravity anomaly in mGal.

Returns

A NavigationResult struct containing the navigation solution.

fn from( (timestamp, state, covariance): (&DateTime<Utc>, &DVector<f64>, &DMatrix<f64>), ) -> Self

Converts to this type from the input type.

impl From<(&DateTime<Utc>, &StrapdownState, &IMUData, &Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, &f64)> for NavigationResult

Convert StrapdownState to NavigationResult.

This implementation is useful for converting the output of a StrapdownState into a NavigationResult, which can then be used for further processing or analysis.

Arguments

• timestamp: The timestamp of the navigation solution.
• state: A reference to the StrapdownState instance containing the navigation state.
• imu_data: An IMUData struct containing the IMU measurements.
• magnetic_vector: Magnetic field strength measurement in micro teslas (body frame x, y, z).
• pressure: Pressure in millibars.

Returns

A NavigationResult struct containing the navigation solution.

fn from( (timestamp, state, imu_data, magnetic_vector, pressure): (&DateTime<Utc>, &StrapdownState, &IMUData, &Vector3<f64>, &f64), ) -> Self

Converts to this type from the input type.

impl From<(&DateTime<Utc>, &UKF)> for NavigationResult

Convert NED UKF to NavigationResult.

This implementation is useful for converting the output of a UKF into a NavigationResult, which can then be used for further processing or analysis.

Arguments

• timestamp: The timestamp of the navigation solution.
• ukf: A reference to the UKF instance containing the navigation state mean and covariance.
• imu_data: An IMUData struct containing the IMU measurements.
• magnetic_vector: Magnetic field strength measurement in micro teslas (body frame x, y, z).
• pressure: Pressure in millibars.

Returns

A NavigationResult struct containing the navigation solution.

fn from((timestamp, ukf): (&DateTime<Utc>, &UKF)) -> Self

Converts to this type from the input type.

impl Serialize for NavigationResult

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.