navlie.utils.common.MixtureResult¶

class navlie.utils.common.MixtureResult(imm_estimate: MixtureState, state_true: State)¶

Parameters:

estimate (StateWithCovariance) – Estimated state and corresponding covariance.
state_true (State) – The true state, which will be used to compute various error metrics.

stamp¶

timestamp

state¶

estimated state

state_true¶

true state

covariance¶

covariance associated with estimated state

error¶

error vector between estimated and true state

ees¶

sum of estimation error squared (EES)

nees¶

normalized estimation error squared (NEES)

Mahalanobis distance

three_sigma¶

three-sigma bounds on each error component

rmse¶

root mean squared error (RMSE)

navlie.utils.common.GaussianResultList

navlie.utils.common.MixtureResultList