test_headingSuKF

test_headingSuKF.test_all_heading_kf(show_plots)

Validation Test Description

The StatePropSunLine subtest runs the filter and creates synthetic measurements to trigger the measurement update method. This is tested in two parts. The filter first stabilizes to a value, and then the value is abruptly changed in order for the filter to snap back to the solution. Measurements are provided every 10 seconds which provides the sparse data that is usually characteristic of OpNav.

The StateUpdateSunLine subtest runs the filter without measurements to only trigger the time update method. This ensures the filter stays at true values if no measurements are provided.

Description of Variables Being Tested

For the propagation: The state output by the filter is tested compared to the commanded target, and the covariance is ensured to converge. These are both tested to 1E-1 because of noise introduced in the measurements.

The measurement updated state output by the filter is tested compared to the expected target. The stability of the state is tested to 1E-10.

test_headingSuKF.test_functions_ukf(show_plots)

Validation Test Description

This subtest runs through the general modules file for square root and unscented filters. These methods include LU decompositions, QR decompositions that only provide the R matrix, as well as L, U inverses, and Cholesky decompositions.

Description of Variables Being Tested

Each method of the general module file for square root and unscented filters are tested to machine precision with errors of 1E-14

General Documentation Comments

This is a similar test used to other filter modules