Struct GnssMeasurementValue¶

Defined in File gnss_measurement.h

Struct Documentation¶

struct GnssMeasurementValue¶

Public Functions

VecXd AsVector(const std::vector<GnssObservable> &observables) const¶

Stack the requested subset of this measurement’s observables (pseudorange, Doppler, carrier phase) into a single vector, in the given order.

Called by GnssMeasurement::Compute to assemble the measurement vector y returned to the EKF/UKF, matching the row ordering used when building the Jacobian H. For CARRIER_PHASE, the integer ambiguity (carrier_integer_cycles) is added to carrier_phase_cycles.

Parameters:: observables – Which observables to include, and in what order
Returns:: Vector of observable values, one per entry of observables [m, Hz, or cycles depending on entry]

Public Members

Real pseudorange_m = NAN¶

Real doppler_hz = NAN¶

Real carrier_phase_cycles = NAN¶

Real carrier_integer_cycles = 0.0¶