Biologger Sim

Contents

  • Getting Started
    • Installation
      • From Source (Recommended)
    • Basic Usage
      • Command-Line Interface
      • Python API
    • Configuration
      • Calibration Modes
    • Next Steps
  • Pipeline Architecture: Lab vs Simulation
    • Lab Mode (Post-Facto)
      • Characteristics
      • Configuration
      • Clock Drift & Jitter
    • Simulation Mode (Real-Time)
      • Characteristics
      • Configuration
    • Streaming Algorithm (11-Step Architecture)
      • 1. Input Acquisition
      • 2. Attachment Correction
      • 3. Window Management (Causal Gsep)
      • 4. Dead Reckoning Timing
      • 5. Orientation (R-style pitchRoll2)
      • 6. World Frame Transformation
      • 7. High-Pass Filter (Bias Removal)
      • 8. INS Depth Estimation (Kalman Filter)
      • 9. Multi-Scale Depth Smoothing
      • 10. Magnetometer & Heading
      • 11. Dead Reckoning Integration
    • Configuration Reference
      • Streaming Mode Entity Configuration
      • Key Configuration Decisions
  • Core Processors
  • Processor Types: Lab vs. Simulation
  • PostFactoProcessor (Acausal)
    • Provenance & Portability
    • Methodology: Batch Retrospective Analysis
  • StreamingProcessor (Causal)
    • Methodology: The 11-Step Causal Pipeline
    • Configuration Parameters
    • Advantages & Inherent Disadvantages
  • Simulation Architecture
    • Dual-Mode System
    • Event Loop: The “Scream” Architecture
      • Prior Approach (Slow)
      • Current Approach (Fast)
  • Omniverse Visualization
    • Installation & Setup
      • Windows Setup (Visualization)
        • Prerequisites
        • Installation Steps
      • Ubuntu Setup (Headless Simulation)
        • Prerequisites
        • Step 1: NVIDIA Developer Account & NGC
        • Step 2: Install Docker & NVIDIA Container Toolkit
      • Hybrid Workflow (WSL + Windows)
        • Configuration Instructions
    • User Guide
      • Coordinate Systems & Conventions
        • Marine Science Standard (NED)
        • Visualization Standard (USD Y-Up)
        • Automatic Conversion
        • Mesh Orientation & Transform Stack
      • Features Overview
      • Telemetry Display (HUD)
        • Understanding Angle of Attack (AoA)
      • Tracking & Visualization Modes
        • 1. Full Position Tracking (Default)
        • 2. Orientation-Only Mode
      • Camera & Navigation
        • Input Map
        • Follow Mode (Default)
        • Free Fly Mode
      • Time Control & Analysis (Instant Replay)
        • Simulation Mode (Real-Time)
        • Lab Mode (Post-Facto)
      • Configuration
        • Omniverse Launch Configurations (.kit)
        • Simulation Publisher (YAML)
      • Multi-Entity Configuration
      • ZMQ Protocol (MessagePack)
      • High-Performance Scaling
    • Technical Architecture
      • Architectural Overview
      • Implementation Details
        • ZMQ Subscription
        • Dynamic Asset Loading
      • Payload Structure
      • Deployment Considerations
        • Streaming (Virtual Ocean)
      • Verification
      • Slip Angle Diagnostics
      • GPU Acceleration (NVIDIA Warp)
        • NED to USD Coordinate Transform
      • Coordinate System Reference
    • Key Features
    • Architecture
    • Quick Reference
  • API Reference
    • Core Processors
      • PostFactoProcessor
        • PostFactoProcessor.calibrate_from_batch_data()
        • PostFactoProcessor.get_current_state()
        • PostFactoProcessor.get_output_schema()
        • PostFactoProcessor.get_performance_summary()
        • PostFactoProcessor.process()
        • PostFactoProcessor.reset()
        • PostFactoProcessor.update_config()
      • StreamingProcessor
        • StreamingProcessor.calibrate_from_batch_data()
        • StreamingProcessor.get_current_state()
        • StreamingProcessor.get_performance_summary()
        • StreamingProcessor.process()
        • StreamingProcessor.reset()
        • StreamingProcessor.update_config()
    • Simulation Logic & Types
      • AHRSAlgorithm
        • AHRSAlgorithm.COMPLEMENTARY
        • AHRSAlgorithm.EKF
        • AHRSAlgorithm.MADGWICK
        • AHRSAlgorithm.MAHONY
      • AHRSConfig
        • AHRSConfig.algorithm
        • AHRSConfig.beta
        • AHRSConfig.enabled
        • AHRSConfig.ki
        • AHRSConfig.kp
        • AHRSConfig.model_config
        • AHRSConfig.normal_gravity_threshold
        • AHRSConfig.slip_gravity_threshold
        • AHRSConfig.smoothing_alpha
        • AHRSConfig.use_adaptive
      • CalibrationConfig
        • CalibrationConfig.attachment_angle_mode
        • CalibrationConfig.locked_attachment_pitch_deg
        • CalibrationConfig.locked_attachment_roll_deg
        • CalibrationConfig.locked_mag_offset_x
        • CalibrationConfig.locked_mag_offset_y
        • CalibrationConfig.locked_mag_offset_z
        • CalibrationConfig.locked_mag_sphere_radius
        • CalibrationConfig.magnetometer_mode
        • CalibrationConfig.model_config
      • CalibrationMode
        • CalibrationMode.BATCH_COMPUTE
        • CalibrationMode.FIXED
      • ClockSource
        • ClockSource.FIXED_FREQ
        • ClockSource.SENSOR_TIME
      • DeadReckoningConfig
        • DeadReckoningConfig.constant_speed_m_s
        • DeadReckoningConfig.model_config
        • DeadReckoningConfig.odba_speed_factor
        • DeadReckoningConfig.speed_model
      • DepthAlgorithm
        • DepthAlgorithm.ACAUSAL_INTERP
        • DepthAlgorithm.CAUSAL_SAMPLE_HOLD
        • DepthAlgorithm.OFF
      • DepthConfig
        • DepthConfig.algorithm
        • DepthConfig.interpolation_max_gap
        • DepthConfig.model_config
      • EntityConfig
        • EntityConfig.ahrs
        • EntityConfig.calibration
        • EntityConfig.clock_source
        • EntityConfig.dead_reckoning
        • EntityConfig.depth_estimation
        • EntityConfig.enforce_r_parity()
        • EntityConfig.input_file
        • EntityConfig.metadata_file
        • EntityConfig.model_config
        • EntityConfig.sampling_rate_hz
        • EntityConfig.save_telemetry
        • EntityConfig.sim_id
        • EntityConfig.start_time_offset
        • EntityConfig.strict_r_parity
        • EntityConfig.tag_id
      • PipelineConfig
        • PipelineConfig.mode
        • PipelineConfig.model_config
        • PipelineConfig.publish_zmq
        • PipelineConfig.simulation
      • ProcessingMode
        • ProcessingMode.LAB
        • ProcessingMode.SIMULATION
      • SimulationConfig
        • SimulationConfig.backend
        • SimulationConfig.entities
        • SimulationConfig.loop
        • SimulationConfig.meta_file
        • SimulationConfig.model_config
        • SimulationConfig.playback_speed
        • SimulationConfig.validate_simulation_source()
        • SimulationConfig.zmq
      • SpeedModel
        • SpeedModel.CONSTANT
        • SpeedModel.ODBA_SCALED
      • ZMQConfig
        • ZMQConfig.host
        • ZMQConfig.model_config
        • ZMQConfig.port
        • ZMQConfig.topic
      • BiologgerProcessor
        • BiologgerProcessor.get_current_state()
        • BiologgerProcessor.get_output_schema()
        • BiologgerProcessor.get_performance_summary()
        • BiologgerProcessor.get_processor_info()
        • BiologgerProcessor.process()
        • BiologgerProcessor.reset()
        • BiologgerProcessor.update_config()
        • BiologgerProcessor.validate_input()
      • ConfigurationError
      • ProcessingError
      • INSSolution
        • INSSolution.get_position_estimate()
        • INSSolution.get_state()
        • INSSolution.get_velocity_estimate()
        • INSSolution.reset()
        • INSSolution.update()
      • VelocityEstimator
        • VelocityEstimator.apply_biological_constraints()
        • VelocityEstimator.get_depth()
        • VelocityEstimator.get_velocity()
        • VelocityEstimator.initialize()
        • VelocityEstimator.is_initialized()
        • VelocityEstimator.predict()
        • VelocityEstimator.reset()
        • VelocityEstimator.update()
    • Scientific Functions
      • DepthSmoother
        • DepthSmoother.update()
      • butterworth_filtfilt()
      • gsep_batch_circular()
      • gsep_streaming()
      • compute_pitch()
      • compute_roll()
      • mag_offset()
      • xb()
      • yb()
    • I/O & Streams
      • SensorStream
        • SensorStream.stream()
      • load_and_filter_data()
      • load_metadata()
      • ZMQPublisher
        • ZMQPublisher.close()
        • ZMQPublisher.publish()
        • ZMQPublisher.publish_state()
Biologger Sim
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