speedandcurrent 2.3.4 → 2.4.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/README.md +74 -45
- package/correctionTable.js +296 -66
- package/docs/correction-table-learning.md +33 -0
- package/docs/correction-table-v1.schema.json +219 -0
- package/docs/correction-table-v2.schema.json +134 -0
- package/docs/correction-table.schema.json +219 -0
- package/index.js +285 -127
- package/package.json +2 -2
- package/public/TableRenderer.js +89 -14
- package/public/app.js +126 -78
- package/public/index.html +14 -6
- package/public/main.css +19 -5
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{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "https://github.com/meri-imperiumi/speedandcurrent/schema/correction-table.schema.json",
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"title": "Speed and Current Correction Table",
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"description": "Documentation of the current private correction-table format emitted by Table2D and CorrectionTable. Table identity is managed by the filename/plugin setting; the serialized id is retained for compatibility.",
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"type": "object",
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"additionalProperties": false,
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"required": [
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"id",
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"row",
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"col",
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"parameters",
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"table"
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,"displayAttributes"
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],
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"properties": {
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"id": {
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"type": "string",
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"minLength": 1
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},
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"row": {
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"$ref": "#/$defs/axis",
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"description": "Speed axis. The row index increases with speed."
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},
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"col": {
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"$ref": "#/$defs/axis",
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"description": "Heel axis. The column index increases from minimum to maximum heel."
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},
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"parameters": {
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"$ref": "#/$defs/filterParameters",
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"description": "Kalman filter model descriptor. `covariance` fields are never functions — they are either fixed matrices (legacy) or the literal marker \"per-observation\" (current), meaning the actual measurement-noise covariance is computed live in CorrectionEstimator.update() from sensor variances and is not persisted."
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},
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"table": {
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"type": "array",
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"minItems": 1,
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"items": {
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"type": "array",
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"minItems": 1,
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"items": {
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"$ref": "#/$defs/cell"
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}
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},
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"description": "Rows must contain one cell for each value on the row axis, and each row must contain one cell for each value on the column axis. Array dimensions are checked semantically because JSON Schema cannot calculate them from axis values."
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},
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"displayAttributes": {
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"type": "object",
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"additionalProperties": true
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}
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},
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"$defs": {
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"axis": {
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"type": "object",
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"additionalProperties": false,
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"required": ["min", "max", "step"],
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"properties": {
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"min": {
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"type": "number"
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"max": {
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"type": "number"
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},
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"step": {
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"type": "number",
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"exclusiveMinimum": 0
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}
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"filterParameters": {
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"oneOf": [
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{ "$ref": "#/$defs/filterParametersV2" },
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{ "$ref": "#/$defs/filterParametersLegacy" }
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],
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"description": "V2 (current) is written by all tables saved after per-observation covariance support was added. Legacy is what earlier versions of the plugin wrote; files in that format still load — the observation.covariance matrix they contain was never actually used for filtering and is ignored on load."
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},
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"filterParametersV2": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stability", "observation", "dynamic"],
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"properties": {
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"stability": {
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"type": "number",
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"description": "Determines the process-noise (Q) magnitude: 10^-stability."
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},
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"observation": { "$ref": "#/$defs/observationParametersV2" },
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"dynamic": { "$ref": "#/$defs/dynamicParameters" }
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}
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},
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"observationParametersV2": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stateProjection", "covariance", "dimension"],
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"properties": {
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"stateProjection": { "$ref": "#/$defs/matrix2" },
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"covariance": {
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"const": "per-observation",
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"description": "Marker only. The measurement-noise covariance (R) is computed per observation from live sensor variances and supplied to the filter at runtime; it is not a persisted value."
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},
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"dimension": { "const": 2 }
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}
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},
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"filterParametersLegacy": {
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"type": "object",
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"additionalProperties": false,
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"required": ["observation", "dynamic"],
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"properties": {
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"observation": { "$ref": "#/$defs/observationParameters" },
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"dynamic": { "$ref": "#/$defs/dynamicParameters" }
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}
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},
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"observationParameters": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stateProjection", "covariance", "dimension"],
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"properties": {
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"stateProjection": { "$ref": "#/$defs/matrix2" },
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"covariance": { "$ref": "#/$defs/matrix2" },
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"dimension": { "const": 2 }
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}
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},
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"dynamicParameters": {
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"type": "object",
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"additionalProperties": false,
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"required": ["transition", "covariance"],
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"properties": {
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"transition": { "$ref": "#/$defs/matrix2" },
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"covariance": { "$ref": "#/$defs/vector2" }
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}
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},
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"matrix2": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"prefixItems": [
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{ "$ref": "#/$defs/vector2" },
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{ "$ref": "#/$defs/vector2" }
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],
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"items": false
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},
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"cell": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"state"
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],
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"properties": {
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"state": {
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"oneOf": [
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{
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"type": "null"
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},
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{
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"$ref": "#/$defs/filterState"
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}
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]
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}
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}
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},
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"filterState": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"mean",
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"covariance",
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"index"
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],
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"properties": {
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"mean": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"prefixItems": [
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{
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"$ref": "#/$defs/vector1"
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},
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{
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"$ref": "#/$defs/vector1"
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}
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],
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"items": false,
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"description": "Two-element column vector."
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},
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"covariance": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"prefixItems": [
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{
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"$ref": "#/$defs/vector2"
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},
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{
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"$ref": "#/$defs/vector2"
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}
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],
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"items": false
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},
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"index": {
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"type": "integer",
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"minimum": 0
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}
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}
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},
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"vector2": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"items": {
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"type": "number"
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}
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},
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"vector1": {
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"type": "array",
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"minItems": 1,
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"maxItems": 1,
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"items": {
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"type": "number"
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}
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}
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}
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}
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{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "https://github.com/meri-imperiumi/speedandcurrent/schema/correction-table-v2.schema.json",
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"title": "Speed and Current Correction Table v2",
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"description": "Version 2 stores the last accepted update for every learned cell as UTC epoch milliseconds. Empty cells use null.",
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"type": "object",
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"additionalProperties": false,
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"required": ["schemaVersion", "id", "row", "col", "parameters", "table", "displayAttributes"],
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"properties": {
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"schemaVersion": { "const": 2 },
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"id": { "type": "string", "minLength": 1 },
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"row": { "$ref": "#/$defs/axis" },
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"col": { "$ref": "#/$defs/axis" },
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"parameters": { "$ref": "#/$defs/parameters" },
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"table": {
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"type": "array",
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"minItems": 1,
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"items": { "type": "array", "minItems": 1, "items": { "$ref": "#/$defs/cell" } }
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},
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"displayAttributes": { "type": "object", "additionalProperties": true }
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},
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"$defs": {
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"axis": {
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"type": "object",
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"additionalProperties": false,
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"required": ["min", "max", "step"],
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"properties": {
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"min": { "type": "number" },
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"max": { "type": "number" },
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"step": { "type": "number", "exclusiveMinimum": 0 }
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}
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},
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"parameters": {
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"oneOf": [
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{ "$ref": "#/$defs/currentParameters" },
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{ "$ref": "#/$defs/legacyParameters" }
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]
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},
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"currentParameters": {
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"type": "object",
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"additionalProperties": false,
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"required": ["processNoiseRate", "observation", "dynamic"],
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"properties": {
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"processNoiseRate": {
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"type": "number",
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"minimum": 0,
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"description": "SI process-noise rate in (m/s)^2 per second. The UI expresses this as correction drift in knots per 30-day month."
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},
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"observation": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stateProjection", "covariance", "dimension"],
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"properties": {
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"stateProjection": { "$ref": "#/$defs/matrix2" },
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"covariance": { "const": "per-observation" },
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"dimension": { "const": 2 }
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}
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},
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"dynamic": {
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"type": "object",
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"additionalProperties": false,
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"required": ["transition", "covariance"],
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"properties": {
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"transition": { "$ref": "#/$defs/matrix2" },
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"covariance": { "$ref": "#/$defs/vector2" }
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}
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}
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}
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},
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"legacyParameters": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stability", "observation", "dynamic"],
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"properties": {
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"stability": { "type": "number" },
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"observation": { "$ref": "#/$defs/legacyObservation" },
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"dynamic": {
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"type": "object",
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"additionalProperties": false,
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"required": ["transition", "covariance"],
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"properties": {
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"transition": { "$ref": "#/$defs/matrix2" },
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"covariance": { "$ref": "#/$defs/vector2" }
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}
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}
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}
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},
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"legacyObservation": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stateProjection", "covariance", "dimension"],
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"properties": {
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"stateProjection": { "$ref": "#/$defs/matrix2" },
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"covariance": { "$ref": "#/$defs/matrix2" },
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"dimension": { "const": 2 }
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}
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},
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"cell": {
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"type": "object",
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"additionalProperties": false,
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"required": ["state", "lastAcceptedAt"],
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"properties": {
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"state": {
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"oneOf": [
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{ "type": "null" },
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{
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"type": "object",
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{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "https://github.com/meri-imperiumi/speedandcurrent/schema/correction-table.schema.json",
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"title": "Speed and Current Correction Table",
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"description": "Documentation of the current private correction-table format emitted by Table2D and CorrectionTable. Table identity is managed by the filename/plugin setting; the serialized id is retained for compatibility.",
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"type": "object",
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"additionalProperties": false,
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"required": [
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"id",
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"row",
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"col",
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"parameters",
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"table"
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,"displayAttributes"
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],
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"properties": {
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"id": {
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"type": "string",
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"minLength": 1
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},
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"row": {
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"$ref": "#/$defs/axis",
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"description": "Speed axis. The row index increases with speed."
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},
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"col": {
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"$ref": "#/$defs/axis",
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"description": "Heel axis. The column index increases from minimum to maximum heel."
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"parameters": {
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"$ref": "#/$defs/filterParameters",
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"description": "Kalman filter model descriptor. `covariance` fields are never functions — they are either fixed matrices (legacy) or the literal marker \"per-observation\" (current), meaning the actual measurement-noise covariance is computed live in CorrectionEstimator.update() from sensor variances and is not persisted."
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},
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"table": {
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"minItems": 1,
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"items": {
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"$ref": "#/$defs/cell"
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}
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},
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"description": "Rows must contain one cell for each value on the row axis, and each row must contain one cell for each value on the column axis. Array dimensions are checked semantically because JSON Schema cannot calculate them from axis values."
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},
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"displayAttributes": {
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"type": "object",
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"additionalProperties": true
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}
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},
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"$defs": {
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"axis": {
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"type": "object",
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"additionalProperties": false,
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"required": ["min", "max", "step"],
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"properties": {
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"min": {
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"type": "number"
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},
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"max": {
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"type": "number"
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},
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"step": {
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"type": "number",
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"exclusiveMinimum": 0
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}
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}
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},
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"filterParameters": {
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"oneOf": [
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{ "$ref": "#/$defs/filterParametersV2" },
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{ "$ref": "#/$defs/filterParametersLegacy" }
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],
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"description": "V2 (current) is written by all tables saved after per-observation covariance support was added. Legacy is what earlier versions of the plugin wrote; files in that format still load — the observation.covariance matrix they contain was never actually used for filtering and is ignored on load."
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},
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"filterParametersV2": {
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"additionalProperties": false,
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"required": ["stability", "observation", "dynamic"],
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"properties": {
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"stability": {
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"type": "number",
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"description": "Determines the process-noise (Q) magnitude: 10^-stability."
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},
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"observation": { "$ref": "#/$defs/observationParametersV2" },
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"dynamic": { "$ref": "#/$defs/dynamicParameters" }
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}
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},
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"observationParametersV2": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stateProjection", "covariance", "dimension"],
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"properties": {
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"stateProjection": { "$ref": "#/$defs/matrix2" },
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"covariance": {
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"const": "per-observation",
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"description": "Marker only. The measurement-noise covariance (R) is computed per observation from live sensor variances and supplied to the filter at runtime; it is not a persisted value."
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},
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"dimension": { "const": 2 }
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}
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},
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"filterParametersLegacy": {
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"type": "object",
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"additionalProperties": false,
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"required": ["observation", "dynamic"],
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"properties": {
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"observation": { "$ref": "#/$defs/observationParameters" },
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"dynamic": { "$ref": "#/$defs/dynamicParameters" }
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}
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},
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"observationParameters": {
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"type": "object",
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"additionalProperties": false,
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"required": ["stateProjection", "covariance", "dimension"],
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"properties": {
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"stateProjection": { "$ref": "#/$defs/matrix2" },
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"covariance": { "$ref": "#/$defs/matrix2" },
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"dimension": { "const": 2 }
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}
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},
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"dynamicParameters": {
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"type": "object",
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"additionalProperties": false,
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"required": ["transition", "covariance"],
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"properties": {
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"transition": { "$ref": "#/$defs/matrix2" },
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"covariance": { "$ref": "#/$defs/vector2" }
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}
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},
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"matrix2": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"prefixItems": [
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{ "$ref": "#/$defs/vector2" },
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{ "$ref": "#/$defs/vector2" }
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],
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"items": false
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},
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"cell": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"state"
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],
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"properties": {
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"state": {
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"oneOf": [
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{
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"type": "null"
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},
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{
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"$ref": "#/$defs/filterState"
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}
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]
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}
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}
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},
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"filterState": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"mean",
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"covariance",
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"index"
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],
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"properties": {
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"mean": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"prefixItems": [
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{
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"$ref": "#/$defs/vector1"
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},
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{
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"$ref": "#/$defs/vector1"
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}
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],
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"items": false,
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"description": "Two-element column vector."
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},
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"covariance": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"prefixItems": [
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{
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"$ref": "#/$defs/vector2"
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},
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{
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"$ref": "#/$defs/vector2"
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}
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],
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"items": false
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},
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"index": {
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"type": "integer",
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"minimum": 0
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}
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}
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},
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"vector2": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"items": {
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"type": "number"
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}
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},
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"vector1": {
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"type": "array",
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"minItems": 1,
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"maxItems": 1,
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"items": {
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"type": "number"
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}
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}
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}
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}
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