struct mola::GNSSFrames

Overview

#include <simplemap_georeference.h>

struct GNSSFrames
{
    // fields

    std::vector<FrameGNSS> frames;
    std::optional<mrpt::topography::TGeodeticCoords> refCoord;
    bool possibly_degenerate = false;
};

Fields

bool possibly_degenerate = false

Set to true by extract_gnss_frames_from_sm() when the HORIZONTAL spread of the GNSS observations is too small with respect to their uncertainty (specifically, when the East/North bounding-box diagonal is not larger than 3x the minimum horizontal per-axis sigma). In such a degenerate configuration, the georeferencing/global-attitude problem is ill-conditioned (e.g. the map azimuth becomes unobservable and can take absurd values). The Up axis is deliberately excluded: it does not observe azimuth, and a large multipath-driven altitude drift would otherwise mask an unobservable one.