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Consistency Metrics

navfusion provides statistical consistency checks to catch silent estimator regressions.

Metrics

  • NIS(gnss): innovation consistency for accepted GNSS updates.
  • NEES(pos+vel): state consistency for position and velocity against truth.

API

from navfusion.analysis import nis_report, nees_position_velocity_report

nis = nis_report(result)
nees = nees_position_velocity_report(result, truth)

Each report includes:

  • sample count
  • average metric value
  • 95% confidence interval for the expected average
  • boolean within_95_bounds

CI policy

Integration tests enforce explicit upper bounds for ANIS/ANEES in a deterministic nominal scenario. This prevents accidental tuning drift or covariance regressions from merging undetected.