ImproveMode enum Sensor Data Source

The available modes for improving position estimation.

Each mode picks one of two engines for the "improve" stage of the pipeline (Sensor Fusion or Dead Reckoning) and decides whether map-matching is layered on top of that engine's output. Map-matching snaps the improved position onto the road graph; it is orthogonal to which engine produces the unsnapped position, hence the four-way matrix.

• sensorFusion - combines GPS, accelerometer, gyroscope into a fused position. No map-matching post-processing.
• deadReckoning - combines NMEA chunks (GNSS), IMU, and wheel odometry to estimate position even during GNSS outage. No map-matching post-processing.
• sensorFusionWithMapMatching - as sensorFusion, but the fused position is then snapped to the road network via map-matching.
• deadReckoningWithMapMatching: as deadReckoning, but with map-matching layered on top.

The chosen engine also constrains the data source: a source that does not provide the input that engine consumes cannot run the mode and the factory returns null. Each value documents the types it consumes; on an external source they are the types declared at creation, on the other sources the ones the producer emits.

See also:

• DataSource.createLiveDataSource - Create a live source with a chosen mode.