Function lupnt::ComputeEstimationErrorPVC(const Ptr<Agent>&, Filter *, int)

• Defined in File filter_utils.cc

Function Documentation

VecXd lupnt::ComputeEstimationErrorPVC(const Ptr<Agent> &sat, Filter *filter, int start_idx)

Compute the position/velocity/clock-bias/clock-drift estimation errors for one satellite, comparing its true state (sat->GetState()) against the filter’s posterior estimate starting at index start_idx.

Used by application logging/printing code (e.g. with PrintEKFProgressPVC) to report per-satellite navigation accuracy at each filter step.

Parameters:

• sat – Satellite providing the true state

• filter – Filter providing the posterior state estimate (GetStatePost)

• start_idx – Index of this satellite’s position sub-state within the filter’s state vector

Returns:

Errors [pos_err [mm], vel_err [um/s], clk_bias_err [m], / clk_drift_err [m/s]] (scaled by the constants used in the implementation)