gps_pvt 0.1.1 → 0.1.5
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- checksums.yaml +4 -4
- data/README.md +117 -86
- data/Rakefile +85 -85
- data/exe/gps_pvt +46 -0
- data/ext/gps_pvt/Coordinate/Coordinate_wrap.cxx +6613 -6613
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +16029 -16019
- data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx +21050 -21050
- data/ext/gps_pvt/extconf.rb +70 -70
- data/ext/ninja-scan-light/tool/swig/GPS.i +20 -9
- data/gps_pvt.gemspec +57 -57
- data/lib/gps_pvt/receiver.rb +353 -375
- data/lib/gps_pvt/ubx.rb +147 -147
- data/lib/gps_pvt/version.rb +5 -5
- data/lib/gps_pvt.rb +9 -9
- data/sig/gps_pvt.rbs +4 -4
- metadata +6 -4
checksums.yaml
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metadata.gz: d756b85034c18bcc2069d2da6b06e1949ff868f33fd57c3c72f8a8a4e4eafa49185128cf1f5a10e35bafbef3d11d130386d3ce1996b21487bc61fb445eba2df0
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data.tar.gz: 26c00d4f6743a07327a57354d83ac8c565f20548748c718855a6476924a7959a3e7fac3c1b7707f7cb1cf1a324bbefa7ab8a68479b7988ae1c87a6627aca93b3
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data/README.md
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# GPS_PVT
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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.
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The PVT solution is obtained with a stand alone positioning (i.e. neither differential nor kinematic) with
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pvt.
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pvt.
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pvt.
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#
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# GPS_PVT
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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.
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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/).
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[![Gem Version](https://badge.fury.io/rb/gps_pvt.svg)](https://badge.fury.io/rb/gps_pvt)
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[![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)
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## Installation
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Add this line to your application's Gemfile:
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```ruby
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gem 'gps_pvt'
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```
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And then execute:
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$ bundle install
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Or install it yourself as:
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$ gem install gps_pvt
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For Windows users, this gem requires Devkit because of native compilation.
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## Usage
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For user who just generate PVT solution, an attached executable is useful. After installation, type
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$ gps_pvt RINEX_or_UBX_file(s)
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For developer, this library will be used in the following:
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```ruby
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require 'gps_pvt'
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receiver = GPS_PVT::Receiver::new
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receiver.parse_rinex_nav(rinex_nav_file) # This is required before parsing RINEX obs file (For ubx, skippable)
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# For generate solution in CSV format
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puts GPS_PVT::Receiver::header
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receiver.parse_rinex_obs(rinex_obs_file)
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# receiver.parse_ubx(ubx_file) # same as above for ubx file including RXM-RAW(X) and RXM-SFRB(X)
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# Or precise control of outputs
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receiver.parse_rinex_obs(rinex_obs_file){|pvt, meas| # per epoch
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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, ...}, ...}
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pvt # => PVT solution, all properties are shown by pvt.methods
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# for example
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if(pvt.position_solved?){
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pvt.receiver_time # receiver time; .to_a => [GPS week, seconds], .c_tm => [year, month, day, hour, min, sec] without leap second consideration
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[:lat, :lng, :alt].collect{|f| pvt.llh.send(f)} # latitude[rad], longitude[rad], WGS-84 altitude[m]
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pvt.receiver_error # receiver clock error in meter
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[:g, :p, :h, :v, :t].collect{|k| pvt.send("#{k}dop".to_sym)} # various DOP, dilution of precision
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if(pvt.velocity_solved?){
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[:north, east, :down].collect{|dir| pvt.velocity.send(dir)} # speed in north/east/down [m/s]
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pvt.receiver_error_rate # clock error rate in m/s
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}
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pvt.used_satellite_list # array of used, i.e., visible and weight>0, satellite
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pvt.azimuth # azimuth angle [rad] to used satellites in Hash {prn => value, ...}
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pvt.elevation # elevation angle [rad]
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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
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pvt.G_enu # design matrix in East-North-Up (ENU)
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pvt.W # weight for each satellite
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pvt.delta_r # residual of pseudo range
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pvt.S # (delta position) = S * (residual) in last iteration in ECEF
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}
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}
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# Customize solution
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receiver.solver.options.exclude(prn) # Exclude satellite; the default is to use every satellite if visible
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receiver.solver.options.include(prn) # Discard previous setting of exclusion
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receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, rcv_e, t_arv, usr_pos, usr_vel|
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# control weight per satellite per iteration
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weight, range_c, range_r, rate_rel_neg, *los_neg = rel_prop # relative property
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# rcv_e, t_arv, usr_pos, usr_vel are temporary solution of
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# receiver clock error [m], time of arrival [s], user position and velocity in ECEF, respectively.
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weight = 1 # same as default; identical weight for each visible satellite
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# or weight based on elevation
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# elv = GPS_PVT::Coordinate::ENU::relative_rel(GPS_PVT::Coordinate::XYZ::new(*los_neg), usr_pos).elevation
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# weight = (Math::sin(elv)/0.8)**2
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[weight, range_c, range_r, rate_rel_neg] + los_neg # must return relative property
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}
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# Dynamic customization of weight for each epoch
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(class << receiver; self; end).instance_eval{ # do before parse_XXX
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alias_method(:run_orig, :run)
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define_method(:run){|meas, t_meas, &b|
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meas # observation, same as the 2nd argument of parse_XXX
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receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, rcv_e, t_arv, usr_pos, usr_vel|
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# Do something based on meas, t_meas.
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rel_prop
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}
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run_orig(meas, t_meas, &b)
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}
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}
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```
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## Development
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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.
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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).
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## Contributing
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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).
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## Code of Conduct
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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).
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data/Rakefile
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# frozen_string_literal: true
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require "bundler/gem_tasks"
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require "rspec/core/rake_task"
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RSpec::Core::RakeTask.new(:spec)
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require "rake/extensiontask"
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Rake::ExtensionTask.new("gps_pvt") do |ext|
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ext.lib_dir = "lib/gps_pvt"
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end
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namespace :git do
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namespace :submodules do
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desc "Initialize git submodules"
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task :init do
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sh "git submodule init"
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# for sparse-checkout; @see https://stackoverflow.com/a/59521050/15992898
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`git config --file .gitmodules --name-only --get-regexp path`.lines.each{|str|
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# list submodule; @see https://stackoverflow.com/a/23490756/15992898
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next unless str =~ /submodule\.(.+)\.path/
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repo_dir = $1
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sh "git clone -n #{`git config submodule.#{repo_dir}.url`.chomp} #{repo_dir}"
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}
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{
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'ext/ninja-scan-light' => [
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"sparse-checkout init", # same as "git -C #{repo} config core.sparseCheckout true"
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# same as #{repo}/.git/info/sparse-checkout
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"sparse-checkout set" + (<<-__SPARSE_PATTERNS__).lines.collect{|str| str.chomp.gsub(/^ */, ' ')}.join,
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/tool/param/
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/tool/navigation/GPS*
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/tool/navigation/coordinate.h
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/tool/navigation/EGM.h
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/tool/navigation/MagneticField.h
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/tool/navigation/NTCM.h
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/tool/navigation/RINEX.h
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/tool/navigation/WGS84.h
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/tool/swig/SylphideMath.i
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/tool/swig/GPS.i
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/tool/swig/Coordinate.i
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/tool/swig/makefile
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/tool/swig/extconf.rb
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/tool/swig/spec/GPS_spec.rb
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/tool/swig/spec/SylphideMath_spec.rb
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__SPARSE_PATTERNS__
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]
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}.each{|repo, commands|
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commands.each{|str| sh "git -C #{repo} #{str}"}
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}
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sh "git submodule absorbgitdirs" # Move #{repo}/.git to .git/modules/#{repo}/.git
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sh "git submodule update"
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# if already checked out, then git -C #{repo} read-tree -mu HEAD
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end
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end
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end
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desc "Generate SWIG wrapper codes"
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task :swig do
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swig_dir = File::join(File::dirname(__FILE__), 'ext', 'ninja-scan-light', 'tool', 'swig')
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out_base_dir = File::join(File::dirname(__FILE__), 'ext', 'gps_pvt')
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Dir::chdir(swig_dir){
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Dir::glob("*.i"){|src|
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mod_name = File::basename(src, '.*')
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out_dir = File::join(out_base_dir, mod_name)
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sh "mkdir -p #{out_dir}"
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wrapper = File::join(out_dir, "#{mod_name}_wrap.cxx")
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sh [:make, :clean, wrapper,
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"BUILD_DIR=#{out_dir}",
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"SWIGFLAGS='-c++ -ruby -prefix \"GPS_PVT::\"#{" -D__MINGW__" if ENV["MSYSTEM"]}'"].join(' ')
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lines = open(wrapper, 'r').read.lines.collect{|line|
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line.sub(/rb_require\(\"([^\"]+)\"\)/){ # from camel to underscore downcase style
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"rb_require(\"#{$1.sub('GPS_PVT', 'gps_pvt')}\")"
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}
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}
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open(wrapper, 'w').write(lines.join)
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}
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}
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end
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file "ext/ninja-scan-light/tool" do |t|
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Rake::Task["git:submodules:init"].invoke
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end
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# frozen_string_literal: true
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require "bundler/gem_tasks"
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require "rspec/core/rake_task"
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RSpec::Core::RakeTask.new(:spec)
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require "rake/extensiontask"
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Rake::ExtensionTask.new("gps_pvt") do |ext|
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ext.lib_dir = "lib/gps_pvt"
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end
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namespace :git do
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namespace :submodules do
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desc "Initialize git submodules"
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task :init do
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sh "git submodule init"
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# for sparse-checkout; @see https://stackoverflow.com/a/59521050/15992898
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`git config --file .gitmodules --name-only --get-regexp path`.lines.each{|str|
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# list submodule; @see https://stackoverflow.com/a/23490756/15992898
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next unless str =~ /submodule\.(.+)\.path/
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repo_dir = $1
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sh "git clone -n #{`git config submodule.#{repo_dir}.url`.chomp} #{repo_dir}"
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}
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{
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'ext/ninja-scan-light' => [
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"sparse-checkout init", # same as "git -C #{repo} config core.sparseCheckout true"
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# same as #{repo}/.git/info/sparse-checkout
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|
+
"sparse-checkout set" + (<<-__SPARSE_PATTERNS__).lines.collect{|str| str.chomp.gsub(/^ */, ' ')}.join,
|
31
|
+
/tool/param/
|
32
|
+
/tool/navigation/GPS*
|
33
|
+
/tool/navigation/coordinate.h
|
34
|
+
/tool/navigation/EGM.h
|
35
|
+
/tool/navigation/MagneticField.h
|
36
|
+
/tool/navigation/NTCM.h
|
37
|
+
/tool/navigation/RINEX.h
|
38
|
+
/tool/navigation/WGS84.h
|
39
|
+
/tool/swig/SylphideMath.i
|
40
|
+
/tool/swig/GPS.i
|
41
|
+
/tool/swig/Coordinate.i
|
42
|
+
/tool/swig/makefile
|
43
|
+
/tool/swig/extconf.rb
|
44
|
+
/tool/swig/spec/GPS_spec.rb
|
45
|
+
/tool/swig/spec/SylphideMath_spec.rb
|
46
|
+
__SPARSE_PATTERNS__
|
47
|
+
]
|
48
|
+
}.each{|repo, commands|
|
49
|
+
commands.each{|str| sh "git -C #{repo} #{str}"}
|
50
|
+
}
|
51
|
+
sh "git submodule absorbgitdirs" # Move #{repo}/.git to .git/modules/#{repo}/.git
|
52
|
+
sh "git submodule update"
|
53
|
+
# if already checked out, then git -C #{repo} read-tree -mu HEAD
|
54
|
+
end
|
55
|
+
end
|
56
|
+
end
|
57
|
+
|
58
|
+
|
59
|
+
desc "Generate SWIG wrapper codes"
|
60
|
+
task :swig do
|
61
|
+
swig_dir = File::join(File::dirname(__FILE__), 'ext', 'ninja-scan-light', 'tool', 'swig')
|
62
|
+
out_base_dir = File::join(File::dirname(__FILE__), 'ext', 'gps_pvt')
|
63
|
+
Dir::chdir(swig_dir){
|
64
|
+
Dir::glob("*.i"){|src|
|
65
|
+
mod_name = File::basename(src, '.*')
|
66
|
+
out_dir = File::join(out_base_dir, mod_name)
|
67
|
+
sh "mkdir -p #{out_dir}"
|
68
|
+
wrapper = File::join(out_dir, "#{mod_name}_wrap.cxx")
|
69
|
+
sh [:make, :clean, wrapper,
|
70
|
+
"BUILD_DIR=#{out_dir}",
|
71
|
+
"SWIGFLAGS='-c++ -ruby -prefix \"GPS_PVT::\"#{" -D__MINGW__" if ENV["MSYSTEM"]}'"].join(' ')
|
72
|
+
lines = open(wrapper, 'r').read.lines.collect{|line|
|
73
|
+
line.sub(/rb_require\(\"([^\"]+)\"\)/){ # from camel to underscore downcase style
|
74
|
+
"rb_require(\"#{$1.sub('GPS_PVT', 'gps_pvt')}\")"
|
75
|
+
}
|
76
|
+
}
|
77
|
+
open(wrapper, 'w').write(lines.join)
|
78
|
+
}
|
79
|
+
}
|
80
|
+
end
|
81
|
+
|
82
|
+
file "ext/ninja-scan-light/tool" do |t|
|
83
|
+
Rake::Task["git:submodules:init"].invoke
|
84
|
+
end
|
85
|
+
|
86
86
|
task :default => ["ext/ninja-scan-light/tool", :compile, :spec]
|
data/exe/gps_pvt
ADDED
@@ -0,0 +1,46 @@
|
|
1
|
+
#!/usr/bin/env ruby
|
2
|
+
|
3
|
+
require 'gps_pvt'
|
4
|
+
|
5
|
+
# runnable quick example to solve PVT by using RINEX NAV/OBS or u-blox ubx
|
6
|
+
|
7
|
+
$stderr.puts <<__STRING__
|
8
|
+
Usage: #{__FILE__} GPS_file1 GPS_file2 ...
|
9
|
+
As GPS_file, rinex_nav(*.YYn), rinex_obs(*.YYo), and ubx(*.ubx) format are currently supported.
|
10
|
+
File format is automatically determined based on its extention described in above parentheses.
|
11
|
+
Note: YY = last two digit of year.
|
12
|
+
__STRING__
|
13
|
+
|
14
|
+
options = {}
|
15
|
+
|
16
|
+
# check options
|
17
|
+
ARGV.reject!{|arg|
|
18
|
+
next false unless arg =~ /^--([^=]+)=?/
|
19
|
+
options[$1.to_sym] = $'
|
20
|
+
true
|
21
|
+
}
|
22
|
+
|
23
|
+
# Check file existence
|
24
|
+
ARGV.each{|arg|
|
25
|
+
raise "File not found: #{arg}" unless File::exist?(arg)
|
26
|
+
}
|
27
|
+
|
28
|
+
rcv = GPS_PVT::Receiver::new(options)
|
29
|
+
|
30
|
+
puts GPS_PVT::Receiver::header
|
31
|
+
|
32
|
+
# parse RINEX NAV
|
33
|
+
ARGV.reject!{|arg|
|
34
|
+
next false unless arg =~ /\.\d{2}n$/
|
35
|
+
rcv.parse_rinex_nav(arg)
|
36
|
+
}
|
37
|
+
|
38
|
+
# other files
|
39
|
+
ARGV.each{|arg|
|
40
|
+
case arg
|
41
|
+
when /\.ubx$/
|
42
|
+
rcv.parse_ubx(arg)
|
43
|
+
when /\.\d{2}o$/
|
44
|
+
rcv.parse_rinex_obs(arg)
|
45
|
+
end
|
46
|
+
}
|