Package com.irurueta.navigation.gnss

Class GNSSKalmanInitializer

java.lang.Object

com.irurueta.navigation.gnss.GNSSKalmanInitializer

public class GNSSKalmanInitializer
extends Object

Initializes the GNSS EKF Kalman filter state estimates and error covariance matrix. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/Initialize_GNSS_KF.m

Constructor Summary

Constructors

Modifier	Constructor	Description
private	GNSSKalmanInitializer()	Constructor.

Method Summary

Modifier and Type	Method	Description
static GNSSKalmanState	initialize(GNSSEstimation estimation, GNSSKalmanConfig config)	Initializes GNSS Kalman filter state.
static void	initialize(GNSSEstimation estimation, GNSSKalmanConfig config, GNSSKalmanState result)	Initializes GNSS Kalman filter state.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

GNSSKalmanInitializer

private GNSSKalmanInitializer()

Constructor. Prevents instantiation of utility class.

Method Details

initialize

public static void initialize(GNSSEstimation estimation,
 GNSSKalmanConfig config,
 GNSSKalmanState result)

Initializes GNSS Kalman filter state.

Parameters:

estimation - initial GNSS estimation containing ECEF position and velocity, and estimated clock offset and drift.

config - Kalman filter configuration.

result - instance where resulting initialized Kalman filter state will be stored.

initialize

public static GNSSKalmanState initialize(GNSSEstimation estimation,
 GNSSKalmanConfig config)

Initializes GNSS Kalman filter state.

Parameters:

estimation - initial GNSS estimation containing ECEF position and velocity, and estimated clock offset and drift.

config - Kalman filter configuration.

Returns:

initialized Kalman filter state.