navlie.lib.models.OneDimensionalPositionVelocityRange¶
- class navlie.lib.models.OneDimensionalPositionVelocityRange(R: float)¶
Bases:
MeasurementModel- evaluate(x: VectorState) → ndarray¶
Evaluates the measurement model \(\mathbf{g}(\mathcal{X})\).
- jacobian(x: VectorState) → ndarray¶
Evaluates the measurement model Jacobian with respect to the state.
\[\mathbf{G} = \frac{D \mathbf{g}(\mathcal{X})}{D \mathcal{X}}\]
- covariance(x: VectorState) → ndarray¶
Returns the covariance \(\mathbf{R}\) associated with additive Gaussian noise.
- 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.