gps_pvt 0.1.2 → 0.1.6

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data/README.md

@@ -2,7 +2,7 @@
 
 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 least 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/).
+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)
@@ -27,6 +27,12 @@ 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'
 
@@ -40,7 +46,8 @@ receiver.parse_rinex_obs(rinex_obs_file)
 
 # 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
+  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?){
@@ -53,6 +60,9 @@ receiver.parse_rinex_obs(rinex_obs_file){|pvt, meas| # per epoch
       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
@@ -67,11 +77,28 @@ 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
+  # 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
+  
+  [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)
+  }
 }
 ```
 

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
+}

data/lib/gps_pvt/receiver.rb

@@ -1,5 +1,3 @@
-#!/usr/bin/ruby
-
 =begin
 Receiver class to be an top level interface to a user
 (The origin is ninja-scan-light/tool/misc/receiver_debug.rb)
@@ -140,15 +138,15 @@ class Receiver
   end
 
   def run(meas, t_meas)
-    #$stderr.puts "Measurement time: #{t_meas.to_a} (a.k.a #{"%d/%d/%d %d:%d:%d UTC"%[*t_meas.c_tm]})"
-    sn = @solver.gps_space_node
-    sn.update_all_ephemeris(t_meas)
-
+=begin
+    $stderr.puts "Measurement time: #{t_meas.to_a} (a.k.a #{"%d/%d/%d %d:%d:%d UTC"%[*t_meas.c_tm]})"
     meas.to_a.collect{|prn, k, v| prn}.uniq.each{|prn|
-      eph = sn.ephemeris(prn)
+      eph = @solver.gps_space_node.ephemeris(prn)
       $stderr.puts "XYZ(PRN:#{prn}): #{eph.constellation(t_meas)[0].to_a} (iodc: #{eph.iodc}, iode: #{eph.iode})"
-    } if false 
+    }
+=end
 
+    #@solver.gps_space_node.update_all_ephemeris(t_meas) # internally called in the following solver.solve
     pvt = @solver.solve(meas, t_meas)
     pvt.define_singleton_method(:to_s){
       (OUTPUT_PVT_ITEMS.transpose[1].collect{|task|
@@ -244,9 +242,15 @@ class Receiver
           {
             :L1_PSEUDORANGE => [16, 8, "E"],
             :L1_DOPPLER => [24, 4, "e"],
+            :L1_CARRIER_PHASE => [8, 8, "E"],
+            :L1_SIGNAL_STRENGTH_dBHz => [30, 1, "c"],
           }.each{|k, prop|
             meas.add(prn, GPS::Measurement.const_get(k), loader.call(*prop))
           }
+          # bit 0 of RINEX LLI (loss of lock indicator) shows lost lock
+          # between previous and current observation, which maps negative lock seconds
+          meas.add(prn, GPS::Measurement::L1_LOCK_SEC,
+              (packet[6 + 31 + (i * 24)] & 0x01 == 0x01) ? -1 : 0)
         }
         after_run.call(run(meas, t_meas), [meas, t_meas])
       when [0x02, 0x15] # RXM-RAWX
@@ -272,6 +276,12 @@ class Receiver
             }],
             :L1_DOPPLER => [32, 4, "e"],
             :L1_DOPPLER_SIGMA => [45, 1, nil, proc{|v| 2E-3 * (v[0] & 0xF)}],
+            :L1_CARRIER_PHASE => [24, 8, "E", proc{|v| (trk_stat & 0x2 == 0x2) ? v : nil}],
+            :L1_CARRIER_PHASE_SIGMA => [44, 1, nil, proc{|v|
+              (trk_stat & 0x2 == 0x2) ? (0.004 * (v[0] & 0xF)) : nil
+            }],
+            :L1_SIGNAL_STRENGTH_dBHz => [42, 1],
+            :L1_LOCK_SEC => [40, 2, "v", proc{|v| 1E-3 * v}],
           }.each{|k, prop|
             next unless v = loader.call(*prop)
             meas.add(svid, GPS::Measurement.const_get(k), v)
@@ -317,8 +327,12 @@ class Receiver
         case type_
         when "C1", "C1C"
           [i, GPS::Measurement::L1_PSEUDORANGE]
+        when "L1", "L1C"
+          [i, GPS::Measurement::L1_CARRIER_PHASE]
         when "D1", "D1C"
           [i, GPS::Measurement::L1_DOPPLER]
+        when "S1", "S1C"
+          [i, GPS::Measurement::L1_SIGNAL_STRENGTH_dBHz]
         else
           nil 
         end
@@ -336,40 +350,3 @@ class Receiver
   end
 end
 end
-
-if __FILE__ == $0 then
-  # runnable quick example to solve PVT by using RINEX NAV/OBS or u-blox ubx
-  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
-  }
-end

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.1.2"
+  VERSION = "0.1.6"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.1.2
+  version: 0.1.6
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2021-12-21 00:00:00.000000000 Z
+date: 2021-12-22 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rake
@@ -42,7 +42,8 @@ description: This module calculate PVT by using raw observation obtained from a
   receiver
 email:
 - fenrir.naru@gmail.com
-executables: []
+executables:
+- gps_pvt
 extensions:
 - ext/gps_pvt/extconf.rb
 extra_rdoc_files: []
@@ -55,6 +56,7 @@ files:
 - Rakefile
 - bin/console
 - bin/setup
+- exe/gps_pvt
 - ext/gps_pvt/Coordinate/Coordinate_wrap.cxx
 - ext/gps_pvt/GPS/GPS_wrap.cxx
 - ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx