gps_pvt 0.1.1 → 0.1.5

checksums.yaml

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data/README.md

@@ -1,86 +1,117 @@
-# GPS_PVT
-
-GPS_PVT is a Ruby GPS (Global positioning system) PVT (position, velocity and time) solver. It accepts RINEX NAV and OBS files in addition to u-blox ubx format. Its significant features are easy to use with highly flexibility to customize internal solver behavior such as weight for each available satellite.
-
-The PVT solution is obtained with a stand alone positioning (i.e. neither differential nor kinematic) with lease square. Its main internal codes are derived from ones of [ninja-scan-light](https://github.com/fenrir-naru/ninja-scan-light) having capability to calculate tightly-coupled GNSS/INS integrated solution. These codes are written by C++, and wrapped by [SWIG](http://www.swig.org/).
-
-## Installation
-
-Add this line to your application's Gemfile:
-
-```ruby
-gem 'gps_pvt'
-```
-
-And then execute:
-
-    $ bundle install
-
-Or install it yourself as:
-
-    $ gem install gps_pvt
-
-## Usage
-
-```ruby
-require 'gps_pvt'
-
-receiver = GPS_PVT::Receiver::new
-receiver.parse_rinex_nav(rinex_nav_file)
-
-# For generate solution in CSV format
-puts GPS_PVT::Receiver::header
-receiver.parse_rinex_obs(rinex_obs_file)
-
-# receiver.parse_ubx(ubx_file) # same as above for ubx file including RXM-RAW(X) and RXM-SFRB(X)
-
-# Or precise control of outputs
-receiver.parse_rinex_obs(rinex_obs_file){|pvt, meas| # per epoch
-  meas # => measurement, array of [prn, key, value]; key is represented by GPS_PVT::GPS::Measurement::L1_PSEUDORANGE
-  pvt # => PVT solution, all properties are shown by pvt.methods
-  # for example
-  if(pvt.position_solved?){
-    pvt.receiver_time # receiver time; .to_a => [GPS week, seconds], .c_tm => [year, month, day, hour, min, sec] without leap second consideration
-    [:lat, :lng, :alt].collect{|f| pvt.llh.send(f)} # latitude[rad], longitude[rad], WGS-84 altitude[m]
-    pvt.receiver_error # receiver clock error in meter
-    [:g, :p, :h, :v, :t].collect{|k| pvt.send("#{k}dop".to_sym)} # various DOP, dilution of precision
-    if(pvt.velocity_solved?){
-      [:north, east, :down].collect{|dir| pvt.velocity.send(dir)} # speed in north/east/down [m/s]
-      pvt.receiver_error_rate # clock error rate in m/s
-    }
-    pvt.used_satellite_list # array of used, i.e., visible and weight>0, satellite
-    pvt.G # design matrix in Earth-centered-Earth-fixed (ECEF); .to_a returns double array converted from matrix. its row corresponds to one of used_satellite_list
-    pvt.G_enu # design matrix in East-North-Up (ENU)
-    pvt.W # weight for each satellite
-    pvt.delta_r # residual of pseudo range
-    pvt.S # (delta position) = S * (residual) in last iteration in ECEF
-  }
-}
-
-# Customize solution
-receiver.solver.options.exclude(prn) # Exclude satellite; the default is to use every satellite if visible
-receiver.solver.options.include(prn) # Discard previous setting of exclusion
-receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, rcv_e, t_arv, usr_pos, usr_vel|
-  # control weight per satellite per iteration
-  weight, range_c, range_r, rate_rel_neg, *los_neg = rel_prop # relative property
-  weight = 1 # default; same weight
-  # or weight based on elevation
-  # elv = GPS_PVT::Coordinate::ENU::relative_rel(GPS_PVT::Coordinate::XYZ::new(*los_neg), usr_pos).elevation
-  # weight = (Math::sin(elv)/0.8)**2
-  [weight, range_c, range_r, rate_rel_neg] + los_neg
-}
-```
-
-## Development
-
-After checking out the repo, run `bin/setup` to install dependencies. Then, run `rake` to build library and run the tests. You can also run `bin/console` for an interactive prompt that will allow you to experiment.
-
-To install this gem onto your local machine, run `bundle exec rake install`. To release a new version, update the version number in `version.rb`, and then run `bundle exec rake release`, which will create a git tag for the version, push git commits and the created tag, and push the `.gem` file to [rubygems.org](https://rubygems.org).
-
-## Contributing
-
-Bug reports and pull requests are welcome on GitHub at https://github.com/fenrir-naru/gps_pvt. This project is intended to be a safe, welcoming space for collaboration, and contributors are expected to adhere to the [code of conduct](https://github.com/fenrir-naru/gps_pvt/blob/master/CODE_OF_CONDUCT.md).
-
-## Code of Conduct
-
-Everyone interacting in the GPS_PVT project's codebases, issue trackers, chat rooms and mailing lists is expected to follow the [code of conduct](https://github.com/fenrir-naru/gps_pvt/blob/master/CODE_OF_CONDUCT.md).
+# GPS_PVT
+
+GPS_PVT is a Ruby GPS (Global positioning system) PVT (position, velocity and time) solver. It accepts RINEX NAV and OBS files in addition to u-blox ubx format. Its significant features are easy to use with highly flexibility to customize internal solver behavior such as weight for each available satellite.
+
+The PVT solution is obtained with a stand alone positioning (i.e. neither differential nor kinematic) with application of least square to each snapshot. Its main internal codes are derived from ones of [ninja-scan-light](https://github.com/fenrir-naru/ninja-scan-light) having capability to calculate tightly-coupled GNSS/INS integrated solution. These codes are written by C++, and wrapped by [SWIG](http://www.swig.org/).
+
+[![Gem Version](https://badge.fury.io/rb/gps_pvt.svg)](https://badge.fury.io/rb/gps_pvt)
+[![Ruby](https://github.com/fenrir-naru/gps_pvt/actions/workflows/main.yml/badge.svg)](https://github.com/fenrir-naru/gps_pvt/actions/workflows/main.yml)
+
+## Installation
+
+Add this line to your application's Gemfile:
+
+```ruby
+gem 'gps_pvt'
+```
+
+And then execute:
+
+    $ bundle install
+
+Or install it yourself as:
+
+    $ gem install gps_pvt
+
+For Windows users, this gem requires Devkit because of native compilation.
+
+## Usage
+
+For user who just generate PVT solution, an attached executable is useful. After installation, type
+
+    $ gps_pvt RINEX_or_UBX_file(s)
+
+For developer, this library will be used in the following:
+
+```ruby
+require 'gps_pvt'
+
+receiver = GPS_PVT::Receiver::new
+receiver.parse_rinex_nav(rinex_nav_file) # This is required before parsing RINEX obs file (For ubx, skippable)
+
+# For generate solution in CSV format
+puts GPS_PVT::Receiver::header
+receiver.parse_rinex_obs(rinex_obs_file)
+# receiver.parse_ubx(ubx_file) # same as above for ubx file including RXM-RAW(X) and RXM-SFRB(X)
+
+# Or precise control of outputs
+receiver.parse_rinex_obs(rinex_obs_file){|pvt, meas| # per epoch
+  meas.to_a # => measurement, array of [prn, key, value]; key is represented by GPS_PVT::GPS::Measurement::L1_PSEUDORANGE; instead of .to_a, .to_hash returns {prn => {key => value, ...}, ...}
+  
+  pvt # => PVT solution, all properties are shown by pvt.methods
+  # for example
+  if(pvt.position_solved?){
+    pvt.receiver_time # receiver time; .to_a => [GPS week, seconds], .c_tm => [year, month, day, hour, min, sec] without leap second consideration
+    [:lat, :lng, :alt].collect{|f| pvt.llh.send(f)} # latitude[rad], longitude[rad], WGS-84 altitude[m]
+    pvt.receiver_error # receiver clock error in meter
+    [:g, :p, :h, :v, :t].collect{|k| pvt.send("#{k}dop".to_sym)} # various DOP, dilution of precision
+    if(pvt.velocity_solved?){
+      [:north, east, :down].collect{|dir| pvt.velocity.send(dir)} # speed in north/east/down [m/s]
+      pvt.receiver_error_rate # clock error rate in m/s
+    }
+    pvt.used_satellite_list # array of used, i.e., visible and weight>0, satellite
+    pvt.azimuth # azimuth angle [rad] to used satellites in Hash {prn => value, ...}
+    pvt.elevation # elevation angle [rad]
+
+    pvt.G # design matrix in Earth-centered-Earth-fixed (ECEF); .to_a returns double array converted from matrix. its row corresponds to one of used_satellite_list
+    pvt.G_enu # design matrix in East-North-Up (ENU)
+    pvt.W # weight for each satellite
+    pvt.delta_r # residual of pseudo range
+    pvt.S # (delta position) = S * (residual) in last iteration in ECEF
+  }
+}
+
+# Customize solution
+receiver.solver.options.exclude(prn) # Exclude satellite; the default is to use every satellite if visible
+receiver.solver.options.include(prn) # Discard previous setting of exclusion
+receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, rcv_e, t_arv, usr_pos, usr_vel|
+  # control weight per satellite per iteration
+  weight, range_c, range_r, rate_rel_neg, *los_neg = rel_prop # relative property
+  # rcv_e, t_arv, usr_pos, usr_vel are temporary solution of 
+  # receiver clock error [m], time of arrival [s], user position and velocity in ECEF, respectively.
+  
+  weight = 1 # same as default; identical weight for each visible satellite
+  # or weight based on elevation
+  # elv = GPS_PVT::Coordinate::ENU::relative_rel(GPS_PVT::Coordinate::XYZ::new(*los_neg), usr_pos).elevation
+  # weight = (Math::sin(elv)/0.8)**2
+  
+  [weight, range_c, range_r, rate_rel_neg] + los_neg # must return relative property
+}
+
+# Dynamic customization of weight for each epoch
+(class << receiver; self; end).instance_eval{ # do before parse_XXX
+  alias_method(:run_orig, :run)
+  define_method(:run){|meas, t_meas, &b|
+    meas # observation, same as the 2nd argument of parse_XXX
+    receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, rcv_e, t_arv, usr_pos, usr_vel|
+      # Do something based on meas, t_meas.
+      rel_prop
+    }
+    run_orig(meas, t_meas, &b)
+  }
+}
+```
+
+## Development
+
+After checking out the repo, run `bin/setup` to install dependencies. Then, run `rake` to build library and run the tests. You can also run `bin/console` for an interactive prompt that will allow you to experiment.
+
+To install this gem onto your local machine, run `bundle exec rake install`. To release a new version, update the version number in `version.rb`, and then run `bundle exec rake release`, which will create a git tag for the version, push git commits and the created tag, and push the `.gem` file to [rubygems.org](https://rubygems.org).
+
+## Contributing
+
+Bug reports and pull requests are welcome on GitHub at https://github.com/fenrir-naru/gps_pvt. This project is intended to be a safe, welcoming space for collaboration, and contributors are expected to adhere to the [code of conduct](https://github.com/fenrir-naru/gps_pvt/blob/master/CODE_OF_CONDUCT.md).
+
+## Code of Conduct
+
+Everyone interacting in the GPS_PVT project's codebases, issue trackers, chat rooms and mailing lists is expected to follow the [code of conduct](https://github.com/fenrir-naru/gps_pvt/blob/master/CODE_OF_CONDUCT.md).

data/Rakefile

@@ -1,86 +1,86 @@
-# frozen_string_literal: true
-
-require "bundler/gem_tasks"
-require "rspec/core/rake_task"
-
-RSpec::Core::RakeTask.new(:spec)
-
-require "rake/extensiontask"
-
-Rake::ExtensionTask.new("gps_pvt") do |ext|
-  ext.lib_dir = "lib/gps_pvt"
-end
-
-namespace :git do
-  namespace :submodules do
-    desc "Initialize git submodules"
-    task :init do
-      sh "git submodule init"
-      # for sparse-checkout; @see https://stackoverflow.com/a/59521050/15992898
-      `git config --file .gitmodules --name-only --get-regexp path`.lines.each{|str|
-        # list submodule; @see https://stackoverflow.com/a/23490756/15992898
-        next unless str =~ /submodule\.(.+)\.path/
-        repo_dir = $1
-        sh "git clone -n #{`git config submodule.#{repo_dir}.url`.chomp} #{repo_dir}"
-      }
-      {
-        'ext/ninja-scan-light' => [
-          "sparse-checkout init", # same as "git -C #{repo} config core.sparseCheckout true"
-          # same as #{repo}/.git/info/sparse-checkout
-          "sparse-checkout set" + (<<-__SPARSE_PATTERNS__).lines.collect{|str| str.chomp.gsub(/^ */, ' ')}.join,
-            /tool/param/
-            /tool/navigation/GPS*
-            /tool/navigation/coordinate.h
-            /tool/navigation/EGM.h
-            /tool/navigation/MagneticField.h
-            /tool/navigation/NTCM.h
-            /tool/navigation/RINEX.h
-            /tool/navigation/WGS84.h
-            /tool/swig/SylphideMath.i
-            /tool/swig/GPS.i
-            /tool/swig/Coordinate.i
-            /tool/swig/makefile
-            /tool/swig/extconf.rb
-            /tool/swig/spec/GPS_spec.rb
-            /tool/swig/spec/SylphideMath_spec.rb
-          __SPARSE_PATTERNS__
-        ]
-      }.each{|repo, commands|
-        commands.each{|str| sh "git -C #{repo} #{str}"}
-      }
-      sh "git submodule absorbgitdirs" # Move #{repo}/.git to .git/modules/#{repo}/.git
-      sh "git submodule update"
-      # if already checked out, then git -C #{repo} read-tree -mu HEAD
-    end
-  end
-end
-
-
-desc "Generate SWIG wrapper codes"
-task :swig do
-  swig_dir = File::join(File::dirname(__FILE__), 'ext', 'ninja-scan-light', 'tool', 'swig')
-  out_base_dir = File::join(File::dirname(__FILE__), 'ext', 'gps_pvt')
-  Dir::chdir(swig_dir){
-    Dir::glob("*.i"){|src|
-      mod_name = File::basename(src, '.*')
-      out_dir = File::join(out_base_dir, mod_name)
-      sh "mkdir -p #{out_dir}"
-      wrapper = File::join(out_dir, "#{mod_name}_wrap.cxx")
-      sh [:make, :clean, wrapper,
-          "BUILD_DIR=#{out_dir}",
-          "SWIGFLAGS='-c++ -ruby -prefix \"GPS_PVT::\"#{" -D__MINGW__" if ENV["MSYSTEM"]}'"].join(' ')
-      lines = open(wrapper, 'r').read.lines.collect{|line|
-        line.sub(/rb_require\(\"([^\"]+)\"\)/){ # from camel to underscore downcase style
-          "rb_require(\"#{$1.sub('GPS_PVT', 'gps_pvt')}\")"
-        }
-      }
-      open(wrapper, 'w').write(lines.join)
-    }
-  }
-end
-
-file "ext/ninja-scan-light/tool" do |t|
-  Rake::Task["git:submodules:init"].invoke
-end
-
+# frozen_string_literal: true
+
+require "bundler/gem_tasks"
+require "rspec/core/rake_task"
+
+RSpec::Core::RakeTask.new(:spec)
+
+require "rake/extensiontask"
+
+Rake::ExtensionTask.new("gps_pvt") do |ext|
+  ext.lib_dir = "lib/gps_pvt"
+end
+
+namespace :git do
+  namespace :submodules do
+    desc "Initialize git submodules"
+    task :init do
+      sh "git submodule init"
+      # for sparse-checkout; @see https://stackoverflow.com/a/59521050/15992898
+      `git config --file .gitmodules --name-only --get-regexp path`.lines.each{|str|
+        # list submodule; @see https://stackoverflow.com/a/23490756/15992898
+        next unless str =~ /submodule\.(.+)\.path/
+        repo_dir = $1
+        sh "git clone -n #{`git config submodule.#{repo_dir}.url`.chomp} #{repo_dir}"
+      }
+      {
+        'ext/ninja-scan-light' => [
+          "sparse-checkout init", # same as "git -C #{repo} config core.sparseCheckout true"
+          # same as #{repo}/.git/info/sparse-checkout
+          "sparse-checkout set" + (<<-__SPARSE_PATTERNS__).lines.collect{|str| str.chomp.gsub(/^ */, ' ')}.join,
+            /tool/param/
+            /tool/navigation/GPS*
+            /tool/navigation/coordinate.h
+            /tool/navigation/EGM.h
+            /tool/navigation/MagneticField.h
+            /tool/navigation/NTCM.h
+            /tool/navigation/RINEX.h
+            /tool/navigation/WGS84.h
+            /tool/swig/SylphideMath.i
+            /tool/swig/GPS.i
+            /tool/swig/Coordinate.i
+            /tool/swig/makefile
+            /tool/swig/extconf.rb
+            /tool/swig/spec/GPS_spec.rb
+            /tool/swig/spec/SylphideMath_spec.rb
+          __SPARSE_PATTERNS__
+        ]
+      }.each{|repo, commands|
+        commands.each{|str| sh "git -C #{repo} #{str}"}
+      }
+      sh "git submodule absorbgitdirs" # Move #{repo}/.git to .git/modules/#{repo}/.git
+      sh "git submodule update"
+      # if already checked out, then git -C #{repo} read-tree -mu HEAD
+    end
+  end
+end
+
+
+desc "Generate SWIG wrapper codes"
+task :swig do
+  swig_dir = File::join(File::dirname(__FILE__), 'ext', 'ninja-scan-light', 'tool', 'swig')
+  out_base_dir = File::join(File::dirname(__FILE__), 'ext', 'gps_pvt')
+  Dir::chdir(swig_dir){
+    Dir::glob("*.i"){|src|
+      mod_name = File::basename(src, '.*')
+      out_dir = File::join(out_base_dir, mod_name)
+      sh "mkdir -p #{out_dir}"
+      wrapper = File::join(out_dir, "#{mod_name}_wrap.cxx")
+      sh [:make, :clean, wrapper,
+          "BUILD_DIR=#{out_dir}",
+          "SWIGFLAGS='-c++ -ruby -prefix \"GPS_PVT::\"#{" -D__MINGW__" if ENV["MSYSTEM"]}'"].join(' ')
+      lines = open(wrapper, 'r').read.lines.collect{|line|
+        line.sub(/rb_require\(\"([^\"]+)\"\)/){ # from camel to underscore downcase style
+          "rb_require(\"#{$1.sub('GPS_PVT', 'gps_pvt')}\")"
+        }
+      }
+      open(wrapper, 'w').write(lines.join)
+    }
+  }
+end
+
+file "ext/ninja-scan-light/tool" do |t|
+  Rake::Task["git:submodules:init"].invoke
+end
+
 task :default => ["ext/ninja-scan-light/tool", :compile, :spec]

data/exe/gps_pvt

@@ -0,0 +1,46 @@
+#!/usr/bin/env ruby
+
+require 'gps_pvt'
+
+# runnable quick example to solve PVT by using RINEX NAV/OBS or u-blox ubx
+
+$stderr.puts <<__STRING__
+Usage: #{__FILE__} GPS_file1 GPS_file2 ...
+As GPS_file, rinex_nav(*.YYn), rinex_obs(*.YYo), and ubx(*.ubx) format are currently supported.
+File format is automatically determined based on its extention described in above parentheses.
+Note: YY = last two digit of year.
+__STRING__
+
+options = {}
+
+# check options
+ARGV.reject!{|arg|
+  next false unless arg =~ /^--([^=]+)=?/
+  options[$1.to_sym] = $'
+  true
+}
+
+# Check file existence
+ARGV.each{|arg|
+  raise "File not found: #{arg}" unless File::exist?(arg)
+}
+
+rcv = GPS_PVT::Receiver::new(options)
+
+puts GPS_PVT::Receiver::header
+
+# parse RINEX NAV
+ARGV.reject!{|arg|
+  next false unless arg =~ /\.\d{2}n$/
+  rcv.parse_rinex_nav(arg)
+}
+
+# other files
+ARGV.each{|arg|
+  case arg
+  when /\.ubx$/
+    rcv.parse_ubx(arg)
+  when /\.\d{2}o$/
+    rcv.parse_rinex_obs(arg)
+  end
+}