gps_pvt 0.1.4 → 0.2.0
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- checksums.yaml +4 -4
- data/README.md +3 -2
- data/Rakefile +9 -4
- data/exe/gps_pvt +4 -4
- data/ext/gps_pvt/Coordinate/Coordinate_wrap.cxx +5 -3
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +4229 -508
- data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx +7 -5
- data/ext/ninja-scan-light/tool/navigation/GPS.h +5 -4
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h +62 -15
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +6 -5
- data/ext/ninja-scan-light/tool/navigation/QZSS.h +62 -0
- data/ext/ninja-scan-light/tool/navigation/RINEX.h +571 -113
- data/ext/ninja-scan-light/tool/navigation/SBAS.h +2330 -0
- data/ext/ninja-scan-light/tool/navigation/SBAS_Solver.h +329 -0
- data/ext/ninja-scan-light/tool/swig/GPS.i +197 -65
- data/lib/gps_pvt/receiver.rb +311 -132
- data/lib/gps_pvt/version.rb +1 -1
- metadata +9 -7
- data/gps_pvt.gemspec +0 -57
@@ -1,6 +1,6 @@
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/* ----------------------------------------------------------------------------
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* This file was automatically generated by SWIG (http://www.swig.org).
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* Version 4.0.
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* Version 4.0.2
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*
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* This file is not intended to be easily readable and contains a number of
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* coding conventions designed to improve portability and efficiency. Do not make
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SWIG_Ruby_MangleStr(VALUE obj)
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{
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return StringValuePtr(stype);
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}
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#define SWIG_RUBY_THREAD_END_BLOCK
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#define SWIGVERSION
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}
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/*@SWIG:/usr/share/
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/*@SWIG:/usr/local/share/swig/4.0.2/ruby/rubyprimtypes.swg,19,%ruby_aux_method@*/
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SWIGINTERN VALUE SWIG_AUX_NUM2DBL(VALUE arg)
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{
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VALUE *args = (VALUE *)arg;
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}
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/*@SWIG:/usr/share/
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/*@SWIG:/usr/local/share/swig/4.0.2/ruby/rubyprimtypes.swg,19,%ruby_aux_method@*/
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SWIGINTERN VALUE SWIG_AUX_NUM2LONG(VALUE arg)
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{
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}
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/*@SWIG:/usr/share/
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/*@SWIG:/usr/local/share/swig/4.0.2/ruby/rubyprimtypes.swg,19,%ruby_aux_method@*/
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SWIGINTERN VALUE SWIG_AUX_NUM2ULONG(VALUE arg)
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{
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VALUE *args = (VALUE *)arg;
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@@ -243,7 +243,7 @@ struct GPS_Time {
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GPS_Time &canonicalize(){
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int quot(std::floor(seconds / seconds_week));
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week += quot;
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seconds -= (
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seconds -= (quot * (int)seconds_week);
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return *this;
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}
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GPS_Time(const std::tm &t, const float_t &leap_seconds = 0) {
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@@ -405,11 +405,12 @@ struct GPS_Time {
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}
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// process remaining 4 years
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int
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int doy[] = {
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leap_year ? 366 : 365,
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365, 365, 365,
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is_leap_year(year + 4) ? 366 : 365,
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};
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std::size_t doy_i(0);
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for(; doy_i < sizeof(doy) / sizeof(doy[0]); ++doy_i){
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if(days <= doy[doy_i]){break;}
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days -= doy[doy_i];
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@@ -2051,6 +2052,7 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
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* @param height_over_ellipsoid
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* @see spherically single layer approach, for example,
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* Eq.(3) of "Ionospheric Range Error Correction Models" by N. Jakowski
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* @see DO-229D A4.4.10.4 Eq.(A-42) is equivalent
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*/
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static float_t slant_factor(
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const enu_t &relative_pos,
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// Elevation and azimuth
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float_t el(relative_pos.elevation()),
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az(relative_pos.azimuth());
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float_t sc_el(rad2sc(el))
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sc_az(rad2sc(az));
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float_t sc_el(rad2sc(el));
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// Pierce point (PP stands for the earth projection of the Pierce point)
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// (the following equation is based on GPS ICD)
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@@ -43,11 +43,13 @@
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#include <exception>
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#include <cmath>
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#include <cstddef>
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#include "param/bit_array.h"
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#include "GPS.h"
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#include "GPS_Solver_Base.h"
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#include "SBAS.h"
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#include "NTCM.h"
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template <class FloatT>
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@@ -57,6 +59,7 @@ struct GPS_Solver_GeneralOptions {
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enum ionospheric_model_t {
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IONOSPHERIC_KLOBUCHAR,
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IONOSPHERIC_SBAS,
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IONOSPHERIC_NTCM_GL,
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IONOSPHERIC_NONE, // which allows no correction
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IONOSPHERIC_MODELS,
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int count_ionospheric_models() const {
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int res(0);
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for(
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for(std::size_t i(0); i < sizeof(ionospheric_models) / sizeof(ionospheric_models[0]); ++i){
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if(ionospheric_models[i] != IONOSPHERIC_SKIP){res++;}
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}
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return res;
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: elevation_mask(0), // elevation mask default is 0 [deg]
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residual_mask(30), // range residual mask is 30 [m]
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f_10_7(-1) {
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for(
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for(std::size_t i(0); i < sizeof(ionospheric_models) / sizeof(ionospheric_models[0]); ++i){
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ionospheric_models[i] = IONOSPHERIC_SKIP;
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}
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// default: broadcasted Klobuchar parameters are at least required for solution.
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}
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ionospheric_models[index] = model;
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return true;
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}
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bool remove_ionospheric_model(const ionospheric_model_t &model) {
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// shift, then replace
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int j(0);
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for(int i(0); i < sizeof(ionospheric_models) / sizeof(ionospheric_models[0]); ++i){
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if(ionospheric_models[i] == model){continue;}
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ionospheric_models[j++] = ionospheric_models[i];
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}
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if(j == (sizeof(ionospheric_models) / sizeof(ionospheric_models[0]))){
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return false;
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}
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do{
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ionospheric_models[j++] = IONOSPHERIC_SKIP;
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}while(j < sizeof(ionospheric_models) / sizeof(ionospheric_models[0]));
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return true;
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}
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};
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inheritate_type(llh_t);
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inheritate_type(enu_t);
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typedef SBAS_SpaceNode<float_t> sbas_space_node_t;
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inheritate_type(pos_t);
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inheritate_type(prn_obs_t);
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inheritate_type(user_pvt_t);
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#undef inheritate_type
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const sbas_space_node_t *space_node_sbas; ///< optional
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typedef typename GPS_Solver_Base<float_t>::options_t::template merge_t<
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GPS_SinglePositioning_Options<float_t>, base_t> options_t;
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-
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protected:
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const space_node_t &_space_node;
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GPS_SinglePositioning_Options<float_t> _options;
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int available_models(0);
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for(
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for(std::size_t i(0);
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i < sizeof(opt.ionospheric_models) / sizeof(opt.ionospheric_models[0]); ++i){
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bool usable(false);
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switch(opt.ionospheric_models[i]){
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case options_t::IONOSPHERIC_KLOBUCHAR:
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// check whether Klobuchar parameters alpha and beta have been already received
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if(_space_node.is_valid_iono()){
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-
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if(_space_node.is_valid_iono()){usable = true;}
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break;
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case options_t::IONOSPHERIC_SBAS:
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if(space_node_sbas){usable = true;}
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break;
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case options_t::IONOSPHERIC_NTCM_GL:
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-
if(opt.f_10_7 >= 0){
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if(opt.f_10_7 >= 0){usable = true;}
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// check F10.7 has been already configured
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-
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-
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break;
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default: break;
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}
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if(usable){
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available_models++;
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}else{
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opt.ionospheric_models[i] = options_t::IONOSPHERIC_SKIP;
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}
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available_models++;
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}
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return available_models;
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}
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GPS_SinglePositioning(const space_node_t &sn)
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: base_t(),
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: base_t(),
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_space_node(sn), space_node_sbas(NULL),
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_options() {
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filter_ionospheric_models(_options);
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}
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if(error.unknown_flag & range_error_t::MASK_IONOSPHERIC){
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// Ionospheric model selection, the fall back is no correction
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bool iono_model_hit(false);
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for(
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for(std::size_t i(0);
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i < sizeof(_options.ionospheric_models) / sizeof(_options.ionospheric_models[0]);
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++i){
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switch(_options.ionospheric_models[i]){
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case options_t::IONOSPHERIC_KLOBUCHAR:
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residual.residual += _space_node.iono_correction(relative_pos, usr_pos.llh, time_arrival);
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break;
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case options_t::IONOSPHERIC_SBAS: {
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// placeholder of checking availability and performing correction
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typedef typename SBAS_SpaceNode<float_t>::available_satellites_t sats_t;
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sats_t sats(space_node_sbas->available_satellites(usr_pos.llh.longitude()));
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typename SBAS_SpaceNode<float_t>::IonosphericGridPoints::PointProperty prop;
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for(typename sats_t::const_iterator it(sats.begin()); it != sats.end(); ++it){
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prop = it->second
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->ionospheric_grid_points().iono_correction(relative_pos, usr_pos.llh);
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break; // TODO The nearest satellite is only checked
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}
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if(!prop.is_available()){continue;}
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residual.residual += prop.delay;
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break;
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}
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case options_t::IONOSPHERIC_NTCM_GL: {
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// TODO f_10_7 setup, optimization (mag_model etc.)
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typename space_node_t::pierce_point_res_t pp(_space_node.pierce_point(relative_pos, usr_pos.llh));
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@@ -202,9 +202,9 @@ struct GPS_Solver_Base {
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virtual const float_t *rate(
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const typename measurement_t::mapped_type &values, float_t &buf) const {
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const float_t *res;
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if(res = find_value(values, measurement_items_t::L1_RANGE_RATE, buf)){
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if((res = find_value(values, measurement_items_t::L1_RANGE_RATE, buf))){
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}else if(res = find_value(values, measurement_items_t::L1_DOPPLER, buf)){
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}else if((res = find_value(values, measurement_items_t::L1_DOPPLER, buf))){
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// Fall back to doppler
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buf *= -space_node_t::L1_WaveLength();
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}
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@@ -214,9 +214,9 @@ struct GPS_Solver_Base {
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virtual const float_t *rate_sigma(
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const typename measurement_t::mapped_type &values, float_t &buf) const {
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const float_t *res;
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if(res = find_value(values, measurement_items_t::L1_RANGE_RATE_SIGMA, buf)){
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if((res = find_value(values, measurement_items_t::L1_RANGE_RATE_SIGMA, buf))){
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-
}else if(res = find_value(values, measurement_items_t::L1_DOPPLER_SIGMA, buf)){
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}else if((res = find_value(values, measurement_items_t::L1_DOPPLER_SIGMA, buf))){
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// Fall back to doppler
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buf *= space_node_t::L1_WaveLength();
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}
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@@ -308,8 +308,9 @@ struct GPS_Solver_Base {
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case ERROR_VELOCITY_INSUFFICIENT_SATELLITES:
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case ERROR_VELOCITY_LS:
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return true;
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default:
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return false;
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}
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-
return false;
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}
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bool velocity_solved() const {
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return error_code == ERROR_NO;
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@@ -0,0 +1,62 @@
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/*
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* Copyright (c) 2021, M.Naruoka (fenrir)
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* - Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* - Neither the name of the naruoka.org nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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27
|
+
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
28
|
+
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
29
|
+
*
|
30
|
+
*/
|
31
|
+
|
32
|
+
#ifndef __QZSS_H__
|
33
|
+
#define __QZSS_H__
|
34
|
+
|
35
|
+
/** @file
|
36
|
+
* @brief QZSS ICD definitions
|
37
|
+
*/
|
38
|
+
|
39
|
+
#include "GPS.h"
|
40
|
+
#include <limits>
|
41
|
+
|
42
|
+
template <class FloatT>
|
43
|
+
struct QZSS_LNAV_Ephemeris_Raw : public GPS_SpaceNode<FloatT>::Satellite::Ephemeris::raw_t {
|
44
|
+
typedef typename GPS_SpaceNode<FloatT>::Satellite::Ephemeris eph_t;
|
45
|
+
typedef typename eph_t::raw_t super_t;
|
46
|
+
|
47
|
+
operator eph_t() const {
|
48
|
+
eph_t res(super_t::operator eph_t());
|
49
|
+
res.fit_interval = super_t::fit_interval_flag
|
50
|
+
? (std::numeric_limits<FloatT>::max)()
|
51
|
+
: (2 * 60 * 60); // Fit interval (ICD:4.1.2.4 Subframe 2); should be zero
|
52
|
+
return res;
|
53
|
+
};
|
54
|
+
|
55
|
+
QZSS_LNAV_Ephemeris_Raw &operator=(const eph_t &eph){
|
56
|
+
super_t::operator=(eph);
|
57
|
+
super_t::fit_interval_flag = (eph.fit_interval > 2 * 60 * 60);
|
58
|
+
return *this;
|
59
|
+
}
|
60
|
+
};
|
61
|
+
|
62
|
+
#endif /* __QZSS_H__ */
|