nyx_space/od/kalman/
mod.rs

1/*
2    Nyx, blazing fast astrodynamics
3    Copyright (C) 2018-onwards Christopher Rabotin <christopher.rabotin@gmail.com>
4
5    This program is free software: you can redistribute it and/or modify
6    it under the terms of the GNU Affero General Public License as published
7    by the Free Software Foundation, either version 3 of the License, or
8    (at your option) any later version.
9
10    This program is distributed in the hope that it will be useful,
11    but WITHOUT ANY WARRANTY; without even the implied warranty of
12    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13    GNU Affero General Public License for more details.
14
15    You should have received a copy of the GNU Affero General Public License
16    along with this program.  If not, see <https://www.gnu.org/licenses/>.
17*/
18
19pub use crate::errors::NyxError;
20use crate::linalg::allocator::Allocator;
21use crate::linalg::{DefaultAllocator, DimName};
22use crate::od::State;
23pub use crate::od::estimate::{Estimate, KfEstimate, Residual};
24pub use crate::od::snc::ProcessNoise;
25pub use crate::time::{Epoch, Unit};
26
27pub mod filtering;
28pub mod initializers;
29
30#[cfg(feature = "python")]
31use pyo3::prelude::*;
32
33/// Defines both a Classical and an Extended Kalman filter (CKF and EKF)
34/// T: Type of state
35/// A: Acceleration size (for SNC)
36/// M: Measurement size (used for the sensitivity matrix)
37#[derive(Debug, Clone)]
38#[allow(clippy::upper_case_acronyms)]
39pub struct KalmanFilter<T, A>
40where
41    A: DimName,
42    T: State,
43    DefaultAllocator: Allocator<<T as State>::Size>
44        + Allocator<<T as State>::VecLength>
45        + Allocator<A>
46        + Allocator<<T as State>::Size, <T as State>::Size>
47        + Allocator<A, A>
48        + Allocator<<T as State>::Size, A>
49        + Allocator<A, <T as State>::Size>,
50    <DefaultAllocator as Allocator<<T as State>::Size>>::Buffer<f64>: Copy,
51    <DefaultAllocator as Allocator<<T as State>::Size, <T as State>::Size>>::Buffer<f64>: Copy,
52{
53    /// The previous estimate used in the KF computations.
54    pub prev_estimate: KfEstimate<T>,
55    /// A sets of process noise (usually noted Q), must be ordered chronologically
56    pub process_noise: Vec<ProcessNoise<A>>,
57    /// The variant of this Kalman filter.
58    pub variant: KalmanVariant,
59    pub prev_used_snc: usize,
60}
61
62#[derive(Copy, Clone, Debug, Default, PartialEq)]
63#[cfg_attr(feature = "python", pyclass(from_py_object))]
64pub enum KalmanVariant {
65    /// Configures the filter as a standard Extended Kalman Filter (EKF) update,
66    /// updating the full reference state in the process' propagator at each measurement update.
67    #[default]
68    ReferenceUpdate,
69    /// Tracks the state deviation (formerly called Classical Kalman Filter (CKF)) and does not update the reference in the process' propagator.
70    DeviationTracking,
71}
nyx_space/od/kalman/mod.rs

nyx_space/od/kalman/
mod.rs
