struct mola::state_estimation_smoother::StateEstimationSmoother::GnssGateStats

Overview

Counters of the GNSS admission tests and innovation gate.

#include <StateEstimationSmoother.h>

struct GnssGateStats
{
    // fields

    size_t accepted = 0;
    size_t rejected = 0;
    size_t rejected_admission = 0;
    size_t rejected_innovation = 0;
    size_t consecutive_rejected = 0;
    size_t reacquired = 0;
    size_t datum_restarts = 0;
};

Fields

size_t accepted = 0

fixes that passed every test

size_t rejected = 0

by any test below

size_t rejected_admission = 0

quality, covariance, sigma, height

size_t rejected_innovation = 0

innovation gate or fix-to-fix consistency

size_t consecutive_rejected = 0

current run of rejections

size_t reacquired = 0

runs accepted after gnss_gate_reacquire_after

size_t datum_restarts = 0

datum candidates dropped as inconsistent