auterion::LosFilter Class Reference

A filter for estimating Line-of-Sight (LOS) vectors and their rates. More...

#include <auterion_sdk/tracking/los_filter/los_filter.hpp>

Public Member Functions
	LosFilter ()
	Default constructor.
void	init ()
	Initializes the filter without an initial LOS vector.
void	init (const Eigen::Vector3f &los_init)
	Initializes the filter with a given LOS vector.
void	predict (float dt)
	Predicts the next state of the filter based on elapsed time.
void	update (const Eigen::Vector3f &los_measurement, float los_variance)
	Updates the filter state with a new LOS measurement.
Eigen::Vector3f	getLOS () const
	Gets the current estimated LOS vector.
Eigen::Vector3f	getLOSRate () const
	Gets the current estimated LOS rate.
const Eigen::MatrixXf	getCovariance () const
	Gets the covariance matrix of the state.
Eigen::Vector3f	getLOSInnov () const
	Gets the LOS innovation (difference between measurement and prediction).
Eigen::Vector3f	getLOSInnovVar () const
	Gets the variance of the LOS innovation.
Eigen::MatrixXf	getStateVariance () const
	Gets the state variance matrix.
Eigen::MatrixXf	getLOSVariance () const
	Gets the variance of the LOS estimates.
Eigen::MatrixXf	getLOSRateVariance () const
	Gets the variance of the LOS rate estimates.

Detailed Description

A filter for estimating Line-of-Sight (LOS) vectors and their rates.

This class provides functionality for initializing, predicting, and updating the state of a LOS estimation filter. It maintains covariance information and provides access to various state variables.

Constructor & Destructor Documentation

LosFilter()

auterion::LosFilter::LosFilter

(

)

Default constructor.

Initializes an instance of the LosFilter.

Member Function Documentation

getCovariance()

const Eigen::MatrixXf auterion::LosFilter::getCovariance

(

)

const

Gets the covariance matrix of the state.

Returns

State covariance matrix.

getLOS()

Eigen::Vector3f auterion::LosFilter::getLOS

(

)

const

Gets the current estimated LOS vector.

Returns

Estimated LOS vector.

getLOSInnov()

Eigen::Vector3f auterion::LosFilter::getLOSInnov

(

)

const

Gets the LOS innovation (difference between measurement and prediction).

Returns

LOS innovation vector.

getLOSInnovVar()

Eigen::Vector3f auterion::LosFilter::getLOSInnovVar

(

)

const

Gets the variance of the LOS innovation.

Returns

LOS innovation variance vector.

getLOSRate()

Eigen::Vector3f auterion::LosFilter::getLOSRate

(

)

const

Gets the current estimated LOS rate.

Returns

Estimated LOS rate vector.

getLOSRateVariance()

Eigen::MatrixXf auterion::LosFilter::getLOSRateVariance

(

)

const

Gets the variance of the LOS rate estimates.

Returns

LOS rate variance matrix.

getLOSVariance()

Eigen::MatrixXf auterion::LosFilter::getLOSVariance

(

)

const

Gets the variance of the LOS estimates.

Returns

LOS variance matrix.

getStateVariance()

Eigen::MatrixXf auterion::LosFilter::getStateVariance

(

)

const

Gets the state variance matrix.

Returns

State variance matrix.

init() [1/2]

void auterion::LosFilter::init

(

)

Initializes the filter without an initial LOS vector.

This function prepares the filter for operation.

init() [2/2]

void auterion::LosFilter::init

(

const Eigen::Vector3f &

los_init

)

Initializes the filter with a given LOS vector.

Parameters

los_init

Initial Line-of-Sight (LOS) vector.

predict()

void auterion::LosFilter::predict

(

float

dt

)

Predicts the next state of the filter based on elapsed time.

Parameters

dt	Time step for prediction (in seconds).

update()

void auterion::LosFilter::update	(	const Eigen::Vector3f &	los_measurement,
		float	los_variance
	)

Updates the filter state with a new LOS measurement.

Parameters

los_measurement	Measured LOS vector.
los_variance	Measurement variance.

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The documentation for this class was generated from the following file:

• include/auterion_sdk/tracking/los_filter/los_filter.hpp