Documentation
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Index ¶
- type AmbiguityKey
- type EKFState
- func (ekf *EKFState) AddAmbiguity(key AmbiguityKey, initialValue float64, initialVariance float64)
- func (ekf *EKFState) ComputePDOP() float64
- func (ekf *EKFState) GetPositionCovariance() [3][3]float64
- func (ekf *EKFState) GetStateVector() []float64
- func (ekf *EKFState) IsConverged(threshold float64) bool
- func (ekf *EKFState) Predict(dt float64) error
- func (ekf *EKFState) RemoveAmbiguity(key AmbiguityKey) error
- func (ekf *EKFState) Update(sats *state.PPPSatelliteStateMap) error
- func (ekf *EKFState) UpdateFromVector(x []float64)
Constants ¶
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Variables ¶
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Functions ¶
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Types ¶
type AmbiguityKey ¶
type AmbiguityKey struct {
System gnss.System
SatelliteID int
Observable observation.ObservationKey
}
AmbiguityKey uniquely identifies a phase ambiguity parameter
func (AmbiguityKey) String ¶
func (ak AmbiguityKey) String() string
String returns a string representation of the ambiguity key
type EKFState ¶
type EKFState struct {
// State vector components
Position coordinates.Vector3D // Receiver position in ECEF (meters)
ReceiverClocks map[gnss.System]float64 // Per-system receiver clocks (meters)
TroposphereZWD float64 // Zenith wet delay (meters)
TropGradientNE [2]float64 // Troposphere gradients North/East (meters)
Ambiguities map[AmbiguityKey]float64 // Float ambiguities per satellite+signal (meters)
// Covariance matrix (stored as full matrix)
// Order: [X, Y, Z, Clk_GPS, Clk_GLO, ..., Trop_ZWD, Grad_N, Grad_E, N_1, N_2, ...]
Covariance [][]float64
// Metadata
Epoch time.Time
StateSize int
// contains filtered or unexported fields
}
EKFState represents the state vector and covariance for the PPP filter
func NewEKF ¶
func NewEKF( initialPosition coordinates.Vector3D, processingMode string, estimateTroposphere bool, estimateGradients bool, processNoisePosition float64, processNoiseClock float64, processNoiseTroposphere float64, processNoiseAmbiguity float64, ) *EKFState
NewEKF creates a new EKF state with initial values and covariance
func (*EKFState) AddAmbiguity ¶
func (ekf *EKFState) AddAmbiguity(key AmbiguityKey, initialValue float64, initialVariance float64)
AddAmbiguity adds a new ambiguity parameter to the state vector
func (*EKFState) ComputePDOP ¶
ComputePDOP computes the Position Dilution of Precision from the covariance matrix
func (*EKFState) GetPositionCovariance ¶
GetPositionCovariance extracts the 3x3 position covariance submatrix
func (*EKFState) GetStateVector ¶
GetStateVector returns the current state as a flat vector
func (*EKFState) IsConverged ¶
IsConverged checks if the solution has converged based on position uncertainty
func (*EKFState) Predict ¶
Predict performs the time update (prediction) step of the EKF This propagates the state and covariance forward in time
func (*EKFState) RemoveAmbiguity ¶
func (ekf *EKFState) RemoveAmbiguity(key AmbiguityKey) error
RemoveAmbiguity removes an ambiguity parameter from the state This is needed when a satellite drops out or after cycle slip
func (*EKFState) Update ¶
func (ekf *EKFState) Update(sats *state.PPPSatelliteStateMap) error
Update performs the measurement update step of the EKF This incorporates new observations to correct the predicted state
func (*EKFState) UpdateFromVector ¶
UpdateFromVector updates the state from a flat vector
Source Files