API¶

High-level¶

from navfusion.api import run_replay

result = run_replay(events)

Streaming¶

from navfusion.api import create_stream_runner

runner = create_stream_runner()
for event in events:
    runner.ingest_event(event)
result = runner.finalize()

Filter selection¶

from navfusion.config import FusionConfig

result_ekf = run_replay(events, config=FusionConfig(filter_type="ekf"))
result_ukf = run_replay(events, config=FusionConfig(filter_type="ukf"))

Main return type¶

RunResult includes:

state_history (with covariance snapshots)
predict_history
update_history
summary

Consistency module¶

from navfusion.analysis import nis_report, nees_position_velocity_report