ekf_both.toml

# EKF with both gravity and magnetic anomaly measurements
input = "data/input"
output = "data/output/ekf/both"
mode = "closed-loop"
seed = 42
parallel = true

[logging]
level = "info"
file = "log/ekf_both.log"

[closed_loop]
filter = "ekf"

[geophysical]
# Gravity anomaly measurements
gravity_resolution = "one_minute"
gravity_bias = 0.0
gravity_noise_std = 100.0

# Magnetic anomaly measurements
magnetic_resolution = "two_minutes"
magnetic_bias = 0.0
magnetic_noise_std = 150.0

# Measurement frequency (seconds)
geo_frequency_s = 1.0

[gnss_degradation]
seed = 42

[gnss_degradation.scheduler]
kind = "fixed_interval"
interval_s = 60.0
phase_s = 0.0

[gnss_degradation.fault]
kind = "degraded"
rho_pos = 0.99
sigma_pos_m = 15.0
rho_vel = 0.95
sigma_vel_mps = 5.0
r_scale = 15.0