Struct SurfaceNavResults¶

Defined in File surface_rover_nav_app.h

Struct Documentation¶

struct SurfaceNavResults¶

Per-epoch truth/estimate error and covariance series produced by the rover navigation application, in a form directly plottable from Python (all matrices are plain double/int). Mirrors the fields the old RunSurfaceNav returned.

Public Members

std::string site_id¶

std::string site_name¶

double site_lat_deg = 0.0¶

double site_lon_deg = 0.0¶

MatXd dem_x¶

MatXd dem_y¶

MatXd dem_elevation¶

double dem_center_x = 0.0¶: native x of the tile center (== ENU East origin).

double dem_center_y = 0.0¶: native y of the tile center (== ENU North origin).

VecXd time_s¶

MatXd pos_err_enu¶: N x 3, (truth - est) position error in ENU [m].

MatXd pos_sigma_enu¶: N x 3, 1-sigma position uncertainty in ENU [m].

VecXd pos_err_norm¶: N, 3D position error magnitude [m].

VecXd clock_bias_err¶: N, clock-bias error [s].

VecXd clock_bias_sigma¶: N, clock-bias 1-sigma [s].

VecXi n_visible¶: N, number of visible LCRNS satellites.

MatXd accel_bias_err¶: N x 3, (truth - est) accel bias [m/s^2].

MatXd accel_bias_sigma¶: N x 3, accel-bias 1-sigma [m/s^2].

MatXd gyro_bias_err¶: N x 3, (truth - est) gyro bias [rad/s].

MatXd gyro_bias_sigma¶: N x 3, gyro-bias 1-sigma [rad/s].

MatXd att_err_deg¶: N x 3, attitude error (rotation vector) [deg].

MatXd att_sigma_deg¶: N x 3, attitude 1-sigma [deg].

MatXd rover_track_enu_truth¶: N x 2, truth (East, North) [m].

MatXd rover_track_enu_est¶: N x 2, estimated (East, North) [m].

VecXd rover_alt_truth¶: N, truth Up / elevation [m].

std::vector<std::string> satellite_names¶