Class LunarGnssCombinedMeasurement

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class LunarGnssCombinedMeasurement : public lupnt::MeasurementClone<LunarGnssCombinedMeasurement>

Combined lunar-GNSS ODTS measurement model: a stack of per-channel GNSS observables (pseudorange/Doppler/carrier-phase) followed, when time-differenced carrier phase (TDCP) is enabled, by TDCP rows built from a stochastic-cloning state [x_current; x_previous].

This owns the measurement-model math that previously lived inside LunarGnssODTSSimulation: the per-channel loop delegates to GnssMeasurement, and the TDCP rows difference the carrier range between the current and previous cloned states. The reusable pieces are exposed as static helpers so the simulation’s truth-data generation shares exactly the same model.

Public Functions

LunarGnssCombinedMeasurement() = default
inline explicit LunarGnssCombinedMeasurement(Config config)
inline const Config &GetConfig() const
inline void SetConfig(const Config &config)
virtual MeasData Compute(const State &x, MatXd *H = nullptr) const override

Predict the measurement z = h(x), its noise covariance R, and (if H != nullptr) the measurement Jacobian H = dh/dx sized n_z x x.size().

Parameters:

  • x – Estimation state.

  • H – [out] If non-null, filled with the measurement Jacobian; if null, only the value and covariance are computed.

Returns:

MeasData with value = z and covariance = R.

Public Static Functions

static VecXd ComputeMeasurementVector(const State &x, const std::vector<GnssChannel> &channels, const GnssMeasurementOptions &options, MatXd *H = nullptr)

Stack the per-channel GNSS observable vector y = h(x) (and, if H != nullptr, its Jacobian) by delegating to GnssMeasurement for each channel.

static MatXd MeasurementCovariance(const std::vector<GnssChannel> &channels, const GnssMeasurementOptions &options)

Diagonal measurement covariance built from each channel’s per-observable sigmas.

static std::vector<TdcpPair> MakeTdcpPairs(const std::vector<GnssChannel> &current, const std::vector<GnssChannel> &previous)

Match carrier-phase channels between two epochs (same const/PRN/frequency).

static VecXd ComputeTdcpVector(const State &current_state, const State &previous_state, const std::vector<TdcpPair> &pairs, const GnssMeasurementOptions &options, MatXd *H = nullptr)

TDCP measurement vector (per pair, current-minus-previous carrier range) and, if H != nullptr, its Jacobian with respect to [x_current; x_previous].

static MatXd TdcpCovariance(const std::vector<TdcpPair> &pairs, double tdcp_sigma_m, double filter_tdcp_inflation_m)

Diagonal TDCP covariance. filter_tdcp_inflation_m is added in quadrature (pass 0 for the truth-side covariance, the filter inflation for the filter side).

struct Config

Public Members

std::vector<GnssChannel> channels

current-epoch channels (pseudorange/Doppler)

GnssMeasurementOptions current_options

observable/state config for channels

GnssMeasurementOptions carrier_options

carrier-phase config for TDCP rows

std::vector<TdcpPair> tdcp_pairs

matched carrier-phase pairs (TDCP)

bool use_tdcp = false

enable TDCP rows / cloned-state layout

double tdcp_sigma_m = 0.0

shared additive TDCP sigma [m]

double filter_tdcp_noise_inflation_m = 0.0

filter-only TDCP inflation [m]

struct TdcpPair

A matched carrier-phase channel pair (same constellation/PRN/frequency) across two consecutive epochs, used to form a TDCP observable.

Public Members

GnssChannel current
GnssChannel previous