Package com.irurueta.navigation.gnss

Class GNSSKalmanState

java.lang.Object
com.irurueta.navigation.gnss.GNSSKalmanState
All Implemented Interfaces:
Serializable, Cloneable
public class GNSSKalmanState extends Object implements Serializable, Cloneable
Kalman filter state for filtered GNSS estimation.
See Also:

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private com.irurueta.algebra.Matrix
    covariance
    Kalman filter error covariance matrix.
    private GNSSEstimation
    estimation
    Contains estimation of ECEF position and velocity, and estimated clock offset and drift.

  • Constructor Summary

    Constructors
    Constructor
    Description
    GNSSKalmanState()
    Constructor.
    GNSSKalmanState(GNSSEstimation estimation, com.irurueta.algebra.Matrix covariance)
    Constructor.
    GNSSKalmanState(GNSSKalmanState input)
    Copy constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    protected Object
    clone()
    Makes a copy of this instance.
    void
    copyFrom(GNSSKalmanState input)
    Copies data of provided instance into this instance.
    void
    copyTo(GNSSKalmanState output)
    Copies this instance data into provided instance.
    boolean
    equals(GNSSKalmanState other)
    Checks if provided instance has exactly the same contents as this instance.
    boolean
    equals(GNSSKalmanState other, double threshold)
    Checks if provided instance has contents similar to this instance up to provided threshold value.
    boolean
    equals(Object obj)
    Checks if provided object is a GNSSKalmanState having exactly the same contents as this instance.
    com.irurueta.algebra.Matrix
    getCovariance()
    Gets Kalman filter error covariance matrix.
    boolean
    getCovariance(com.irurueta.algebra.Matrix result)
    Gets Kalman filter error covariance matrix.
    GNSSEstimation
    getEstimation()
    Gets estimation of ECEF position and velocity, and estimated clock offset and drift.
    boolean
    getEstimation(GNSSEstimation result)
    Gets estimation of ECEF position and velocity, and estimated clock offset and drift.
    int
    hashCode()
    Computes and returns hash code for this instance.
    void
    setCovariance(com.irurueta.algebra.Matrix covariance)
    Sets Kalman filter error covariance matrix.
    void
    setEstimation(GNSSEstimation estimation)
    Sets estimation of ECEF position and velocity, and estimated clock offset and drift.

    Methods inherited from class java.lang.Object

    finalize, getClass, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • estimation

      private GNSSEstimation estimation
      Contains estimation of ECEF position and velocity, and estimated clock offset and drift.

    • covariance

      private com.irurueta.algebra.Matrix covariance
      Kalman filter error covariance matrix.

  • Constructor Details

    • GNSSKalmanState

      public GNSSKalmanState()
      Constructor.

    • GNSSKalmanState

      public GNSSKalmanState(GNSSEstimation estimation, com.irurueta.algebra.Matrix covariance)
      Constructor.
      Parameters:
      estimation - GNSS estimation containing ECEF position, velocity and clock offset and drift.
      covariance - Kalman filter error covariance matrix. Must be 8x8.
      Throws:
      IllegalArgumentException - if provided covariance matrix is not 8x8.

    • GNSSKalmanState

      public GNSSKalmanState(GNSSKalmanState input)
      Copy constructor.
      Parameters:
      input - input instance to copy data from.

  • Method Details

    • getEstimation

      public boolean getEstimation(GNSSEstimation result)
      Gets estimation of ECEF position and velocity, and estimated clock offset and drift. If GNSS estimation data is not available, this method makes no action.
      Parameters:
      result - instance where result data will be copied to.
      Returns:
      true if result data has been copied, false otherwise.

    • getEstimation

      public GNSSEstimation getEstimation()
      Gets estimation of ECEF position and velocity, and estimated clock offset and drift.
      Returns:
      GNSS estimation.

    • setEstimation

      public void setEstimation(GNSSEstimation estimation)
      Sets estimation of ECEF position and velocity, and estimated clock offset and drift.
      Parameters:
      estimation - GNSS estimation to be set.

    • getCovariance

      public boolean getCovariance(com.irurueta.algebra.Matrix result)
      Gets Kalman filter error covariance matrix.
      Parameters:
      result - instance where result data will be copied to.
      Returns:
      true if result data has been copied, false otherwise.

    • getCovariance

      public com.irurueta.algebra.Matrix getCovariance()
      Gets Kalman filter error covariance matrix.
      Returns:
      Kalman filter error covariance matrix.

    • setCovariance

      public void setCovariance(com.irurueta.algebra.Matrix covariance)
      Sets Kalman filter error covariance matrix.
      Parameters:
      covariance - Kalman filter error covariance matrix to be set.
      Throws:
      IllegalArgumentException - if provided covariance matrix is not 8x8.

    • copyTo

      public void copyTo(GNSSKalmanState output)
      Copies this instance data into provided instance.
      Parameters:
      output - destination instance where data will be copied to.

    • copyFrom

      public void copyFrom(GNSSKalmanState input)
      Copies data of provided instance into this instance.
      Parameters:
      input - instance to copy data from.

    • hashCode

      public int hashCode()
      Computes and returns hash code for this instance. Hash codes are almost unique values that are useful for fast classification and storage of objects in collections.
      Overrides:
      hashCode in class Object
      Returns:
      Hash code.

    • equals

      public boolean equals(Object obj)
      Checks if provided object is a GNSSKalmanState having exactly the same contents as this instance.
      Overrides:
      equals in class Object
      Parameters:
      obj - Object to be compared.
      Returns:
      true if both objects are considered to be equal, false otherwise.

    • equals

      public boolean equals(GNSSKalmanState other)
      Checks if provided instance has exactly the same contents as this instance.
      Parameters:
      other - instance to be compared.
      Returns:
      true if both instances are considered to be equal, false otherwise.

    • equals

      public boolean equals(GNSSKalmanState other, double threshold)
      Checks if provided instance has contents similar to this instance up to provided threshold value.
      Parameters:
      other - instance to be compared.
      threshold - maximum difference allowed for values.
      Returns:
      true if both instances are considered to be equal (up to provided threshold), false otherwise.

    • clone

      protected Object clone() throws CloneNotSupportedException
      Makes a copy of this instance.
      Overrides:
      clone in class Object
      Returns:
      a copy of this instance.
      Throws:
      CloneNotSupportedException - if clone fails for some reason.