import { PartialDeep } from 'type-fest';
import { SensorId } from '../sensors/types';
export { type AnchorState, type AnchorStateConfig, DEFAULT_ANCHOR_STATE_CONFIG } from './anchor-state';
export type FusionEventPayloads = {
    'fused-position': {
        position: FusedPosition;
    };
    'heading-update': {
        heading: number;
    };
    'anchor-set': {
        anchor: PositionAnchor;
    };
    'anchor-expired': {
        anchor: PositionAnchor;
    };
    error: {
        error: Error | GeolocationPositionError;
    };
};
export type PositionMetadata = {
    /** Confidence score 0-1 (0 = no confidence, 1 = 100% certain) */
    confidence: number;
};
/**
 * Represents a position update from a position source with an associated confidence score.
 * This interface is explicitly defined to include core geolocation fields, avoiding TypeScript interface extension errors.
 */
export type PositionUpdate = {
    /** Latitude in degrees */
    latitude: number;
    /** Longitude in degrees */
    longitude: number;
    /** Accuracy in meters */
    accuracy?: number;
    /** Altitude in meters above the WGS84 ellipsoid (if available) */
    altitude?: number | null;
    /** Altitude accuracy in meters (if available) */
    altitudeAccuracy?: number | null;
    /** Heading in degrees (if available) */
    heading?: number | null;
    /** Angular velocity in degrees per second (gyroscope z-axis rotation rate) */
    angularVelocity?: number | null;
    /** Speed in meters per second (if available) */
    speed?: number | null;
    /** Floor level from device (used to resolve floor) */
    floorLevel?: number | null;
    /** Timestamp in milliseconds */
    timestamp?: number;
} & PositionMetadata;
export type PartialPositionUpdate = PartialDeep<PositionUpdate> & PositionMetadata;
/**
 * Contribution from a single sensor to the fused position.
 */
export interface SensorContribution {
    /** Sensor identifier */
    sensorId: SensorId;
    /** Weight applied to this sensor (normalized 0-1, 0 for heading-only sensors) */
    weight: number;
    /** Original position update from the sensor (may be partial) */
    position: PartialPositionUpdate;
}
/**
 * A fused position combining multiple sensor updates.
 */
export interface FusedPosition extends PositionUpdate {
    sensorId: 'fusion';
    /** Individual contributions from each sensor */
    contributions: SensorContribution[];
    /** Whether position is calibrated via an anchor (VPS/AI Localizer) */
    isCalibrated: boolean;
    /** Accumulated displacement from anchor in meters (only present when isCalibrated is true) */
    displacement?: DisplacementVector;
}
/**
 * A displacement vector in meters.
 */
export interface DisplacementVector {
    /** Displacement in meters along east-west axis (positive = east) */
    dx: number;
    /** Displacement in meters along north-south axis (positive = north) */
    dy: number;
}
/**
 * A relative displacement update from a motion sensor (e.g., PDR).
 * Displacement is in meters, relative to the last known position.
 * Used for dead reckoning from a calibrated anchor position.
 */
export interface RelativePositionUpdate {
    /** Displacement in meters along east-west axis (positive = east) */
    dx: number;
    /** Displacement in meters along north-south axis (positive = north) */
    dy: number;
    /** Heading in degrees (0-360) at time of displacement */
    heading?: number;
    /** Timestamp in milliseconds */
    timestamp: number;
    /** Confidence score 0-1 */
    confidence: number;
}
/**
 * Configuration for the multi-sensor EKF fusion engine.
 */
export interface FusionEngineConfig {
    /**
     * Duration in ms where anchor is exclusive (GPS rejected).
     * @default 5000 (5 seconds)
     */
    anchorOnlyPeriodMs: number;
    /**
     * Half-life for state uncertainty growth in milliseconds.
     * The state uncertainty doubles every halfLifeMs when no measurements arrive.
     * Lower values = faster decay of old position estimates.
     * @default 10000 (10 seconds)
     */
    halfLifeMs: number;
    /**
     * Maximum age of position updates to consider in milliseconds.
     * Updates older than this cause filter reset.
     * @default 5000 (5 seconds)
     */
    maxAgeMs: number;
}
/**
 * Default fusion engine configuration.
 */
export declare const DEFAULT_FUSION_ENGINE_CONFIG: FusionEngineConfig;
/**
 * Position anchor from a calibration source (VPS, AI Localizer).
 * Anchors represent absolute ground truth positions that other sensors
 * can reference for relative positioning.
 */
export interface PositionAnchor {
    /** Absolute latitude in degrees */
    latitude: number;
    /** Absolute longitude in degrees */
    longitude: number;
    /** Heading/bearing from calibration source in degrees */
    heading?: number;
    /** Floor level from calibration source */
    floorLevel?: number;
    /** Sensor that set this anchor */
    sensorId: SensorId;
    /** When anchor was established (timestamp in ms) */
    timestamp: number;
    /** How long anchor remains valid in milliseconds */
    ttl: number;
    /**
     * Initial confidence of this anchor (0-1).
     * Used for transition decay: anchor confidence decreases over time.
     * @default 1.0
     */
    confidence?: number;
}
/**
 * Default anchor TTL (time-to-live) in milliseconds.
 * @default 30000 (30 seconds)
 */
export declare const DEFAULT_ANCHOR_TTL = 30000;
/**
 * Meters per degree of latitude (approximately constant).
 * Used for converting displacement in meters to lat/lon degrees.
 */
export declare const METERS_PER_DEGREE_LAT = 111320;