navlie.lib.models.GlobalPosition

class navlie.lib.models.GlobalPosition(R: ndarray)

Bases: AbsolutePosition

This class is deprecated. Use AbsolutePosition instead.

covariance(x: MatrixLieGroupState) → ndarray

Returns the covariance \(\mathbf{R}\) associated with additive Gaussian noise.

evaluate(x: MatrixLieGroupState)

Evaluates the measurement model \(\mathbf{g}(\mathcal{X})\).

evaluate_with_jacobian(x: State) → Tuple[ndarray, ndarray]

Evaluates the measurement model and simultaneously returns the Jacobian as its second output argument. This is useful to override for performance reasons when the model evaluation and Jacobian have a lot of common calculations, and it is more efficient to calculate them in the same function call.

jacobian(x: MatrixLieGroupState)

Evaluates the measurement model Jacobian with respect to the state.

\[\mathbf{G} = \frac{D \mathbf{g}(\mathcal{X})}{D \mathcal{X}}\]

jacobian_fd(x: State, step_size=1e-06)

Calculates the model jacobian with finite difference.

sqrt_information(x: State)

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