mirror of
https://github.com/ruvnet/RuView
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ruv
b10bc2e9ab
- mat/localization/range_constraint.rs (forward-looking; no UWB hw yet):
- RangeConstraint domain model (anchor_id/pos/measured_range/uncertainty/
signal_quality); predicted_range/residual/mahalanobis/is_consistent
- RangeConstraintFusion::refine() — Newton-normalized weighted least-squares
that constrains a CSI/CIR prior toward range spheres, Mahalanobis-gates
inconsistent (NLOS/multipath) ranges; returns RefineResult with rejected
anchors + RMS residual
- associate() disambiguates which track a range belongs to (re-ID hook)
- 4 tests (converges to truth, absurd range gated, consistency math, track
association); workspace 0 errors
Co-Authored-By: claude-flow <ruv@ruv.net>
19 lines
621 B
Rust
19 lines
621 B
Rust
//! Localization module for survivor position estimation.
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//!
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//! This module provides:
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//! - Triangulation from multiple access points
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//! - Depth estimation through debris
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//! - Position fusion combining multiple techniques
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mod depth;
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mod fusion;
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mod range_constraint;
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mod triangulation;
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pub use depth::{DepthEstimator, DepthEstimatorConfig};
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pub use fusion::{LocalizationService, PositionFuser};
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pub use range_constraint::{RangeConstraint, RangeConstraintFusion, RefineResult};
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#[cfg(feature = "ruvector")]
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pub use triangulation::solve_tdoa_triangulation;
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pub use triangulation::{TriangulationConfig, Triangulator};
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