gps_pvt 0.1.4 → 0.2.0

data/ext/ninja-scan-light/tool/navigation/SBAS_Solver.h

@@ -0,0 +1,329 @@
+/**
+ * @file SBAS solver
+ *
+ */
+
+/*
+ * Copyright (c) 2020, M.Naruoka (fenrir)
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * - Redistributions of source code must retain the above copyright notice,
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the naruoka.org nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
+ * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+ * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef __SBAS_SOLVER_H__
+#define __SBAS_SOLVER_H__
+
+#include "SBAS.h"
+#include "GPS_Solver_Base.h"
+#include "GPS_Solver.h"
+
+#include <cstddef>
+
+template <class FloatT>
+struct SBAS_SinglePositioning_Options : public GPS_Solver_GeneralOptions<FloatT> {
+  typedef GPS_Solver_GeneralOptions<FloatT> super_t;
+
+  typename GPS_Solver_Base<FloatT>::options_t::template exclude_prn_t<120, 158> exclude_prn; // SBAS PRN ranges from 120 to 158
+  SBAS_SinglePositioning_Options()
+      : super_t() {
+    // default: SBAS IGP, then broadcasted Klobuchar.
+    super_t::ionospheric_models[0] = super_t::IONOSPHERIC_SBAS;
+    super_t::ionospheric_models[1] = super_t::IONOSPHERIC_KLOBUCHAR;
+
+    exclude_prn.set(true); // SBAS ranging is default off.
+  }
+};
+
+template <class FloatT, class SolverBaseT = GPS_Solver_Base<FloatT> >
+class SBAS_SinglePositioning : public SolverBaseT {
+  private:
+    SBAS_SinglePositioning<FloatT> &operator=(const SBAS_SinglePositioning<FloatT> &);
+  public:
+    typedef SBAS_SinglePositioning<FloatT> self_t;
+    typedef SolverBaseT base_t;
+
+#if defined(__GNUC__) && (__GNUC__ < 5)
+#define inheritate_type(x) typedef typename base_t::x x;
+#else
+#define inheritate_type(x) using typename base_t::x;
+#endif
+
+    inheritate_type(float_t);
+    inheritate_type(prn_t);
+
+    typedef SBAS_SpaceNode<float_t> space_node_t;
+    inheritate_type(gps_time_t);
+    typedef typename space_node_t::Satellite satellite_t;
+
+    inheritate_type(xyz_t);
+    inheritate_type(enu_t);
+
+    inheritate_type(pos_t);
+
+    typedef typename base_t::measurement_t measurement_t;
+    typedef typename base_t::range_error_t range_error_t;
+
+    inheritate_type(relative_property_t);
+#undef inheritate_type
+
+    typedef typename GPS_Solver_Base<float_t>::options_t::template merge_t<
+        SBAS_SinglePositioning_Options<float_t>, base_t> options_t;
+
+    typedef GPS_SpaceNode<float_t> gps_space_node_t;
+    const gps_space_node_t *space_node_gps; ///< optional
+  protected:
+    const space_node_t &_space_node;
+    SBAS_SinglePositioning_Options<float_t> _options;
+
+  public:
+    const space_node_t &space_node() const {return _space_node;}
+
+    /**
+     * Check availability of ionospheric models
+     * If a model is completely unavailable, it will be replaced to IONOSPHERIC_SKIP.
+     * It implies that when a model has conditional applicability (such as SBAS), it will be retained.
+     *
+     * @return (int) number of (possibly) available models
+     */
+    int filter_ionospheric_models(SBAS_SinglePositioning_Options<float_t> &opt) const {
+      int available_models(0);
+      for(std::size_t i(0); i < sizeof(opt.ionospheric_models) / sizeof(opt.ionospheric_models[0]); ++i){
+        bool usable(false);
+        switch(opt.ionospheric_models[i]){
+          case options_t::IONOSPHERIC_KLOBUCHAR:
+            // check whether Klobuchar parameters alpha and beta have been already received
+            if(space_node_gps && space_node_gps->is_valid_iono()){usable = true;}
+            break;
+          case options_t::IONOSPHERIC_SBAS:
+            usable = true;
+            break;
+          case options_t::IONOSPHERIC_NTCM_GL:
+            if(opt.f_10_7 >= 0){usable = true;}
+            // check F10.7 has been already configured
+            break;
+          default:
+            break;
+        }
+        if(usable){
+          available_models++;
+        }else{
+          opt.ionospheric_models[i] = options_t::IONOSPHERIC_SKIP;
+        }
+      }
+      return available_models;
+    }
+
+    options_t available_options() const {
+      return options_t(base_t::available_options(), _options);
+    }
+
+    options_t available_options(const options_t &opt_wish) const {
+      SBAS_SinglePositioning_Options<float_t> opt(opt_wish);
+      filter_ionospheric_models(opt);
+      return options_t(base_t::available_options(opt_wish), opt);
+    }
+
+    options_t update_options(const options_t &opt_wish){
+      filter_ionospheric_models(_options = opt_wish);
+      return options_t(base_t::update_options(opt_wish), _options);
+    }
+
+    SBAS_SinglePositioning(const space_node_t &sn, const options_t &opt_wish = options_t())
+        : base_t(), 
+        _space_node(sn), space_node_gps(NULL),
+        _options(available_options(opt_wish)) {}
+
+    ~SBAS_SinglePositioning(){}
+
+    /**
+     * Check availability of a satellite with which observation is associated
+     *
+     * @param prn satellite number
+     * @param receiver_time receiver time
+     * @return (const satellite_t *) If available, const pointer to satellite is returned,
+     * otherwise NULL.
+     */
+    const satellite_t *is_available(
+        const typename space_node_t::satellites_t::key_type &prn,
+        const gps_time_t &receiver_time) const {
+
+      const typename space_node_t::satellites_t &sats(_space_node.satellites());
+      const typename space_node_t::satellites_t::const_iterator it_sat(sats.find(prn));
+      if((it_sat == sats.end()) // has ephemeris?
+          || (!it_sat->second.ephemeris().is_valid(receiver_time))){ // valid ephemeris?
+        return NULL;
+      }
+
+      return &(it_sat->second);
+    }
+
+    /**
+     * Calculate relative range and rate information to a satellite
+     *
+     * @param prn satellite number
+     * @param measurement measurement (per satellite) containing pseudo range
+     * @param receiver_error (temporal solution of) receiver clock error in meter
+     * @param time_arrival time when signal arrive at receiver
+     * @param usr_pos (temporal solution of) user position
+     * @param usr_vel (temporal solution of) user velocity
+     * @return (relative_property_t) relative information
+     */
+    relative_property_t relative_property(
+        const prn_t &prn,
+        const typename measurement_t::mapped_type &measurement,
+        const float_t &receiver_error,
+        const gps_time_t &time_arrival,
+        const pos_t &usr_pos,
+        const xyz_t &usr_vel) const {
+
+      relative_property_t res = {0};
+
+      if(_options.exclude_prn[prn]){return res;}
+
+      float_t range;
+      range_error_t range_error;
+      if(!this->range(measurement, range, &range_error)){
+        return res; // If no range entry, return with weight = 0
+      }
+
+      const satellite_t *sat(is_available(prn, time_arrival));
+      if(!sat){return res;} // If satellite is unavailable, return with weight = 0
+
+      ///< The following procedure is based on Appendix.S with modification
+
+      range -= receiver_error;
+
+      // Clock correction will be performed in the following constellation()
+      if(!(range_error.unknown_flag & range_error_t::SATELLITE_CLOCK)){
+        range += range_error.value[range_error_t::SATELLITE_CLOCK];
+      }
+
+      // TODO WAAS long term clock correction (2.1.1.4.11)
+
+      // Calculate satellite position and velocity
+      typename space_node_t::SatelliteProperties::constellation_t sat_pos_vel(
+          sat->ephemeris().constellation(time_arrival, range));
+
+      const xyz_t &sat_pos(sat_pos_vel.position);
+      float_t geometric_range(usr_pos.xyz.dist(sat_pos));
+
+      // Calculate residual with Sagnac correction (A.4.4.11)
+      res.range_residual = range
+          + space_node_t::sagnac_correction(sat_pos, usr_pos.xyz)
+          - geometric_range;
+
+      // Setup design matrix
+      res.los_neg[0] = -(sat_pos.x() - usr_pos.xyz.x()) / geometric_range;
+      res.los_neg[1] = -(sat_pos.y() - usr_pos.xyz.y()) / geometric_range;
+      res.los_neg[2] = -(sat_pos.z() - usr_pos.xyz.z()) / geometric_range;
+
+      enu_t relative_pos(enu_t::relative(sat_pos, usr_pos.xyz));
+
+      // Tropospheric (2.1.4.10.3, A.4.2.4)
+      res.range_residual += (range_error.unknown_flag & range_error_t::MASK_TROPOSPHERIC)
+          ? _space_node.tropo_correction(time_arrival.year(), relative_pos, usr_pos.llh)
+          : range_error.value[range_error_t::TROPOSPHERIC];
+
+      // Ionospheric (2.1.4.10.2, A.4.4.10.4)
+      if(range_error.unknown_flag & range_error_t::MASK_IONOSPHERIC){
+        // Ionospheric model selection, the fall back is no correction
+        bool iono_model_hit(false);
+        for(std::size_t i(0); i < sizeof(_options.ionospheric_models) / sizeof(_options.ionospheric_models[0]); ++i){
+          switch(_options.ionospheric_models[i]){
+            case options_t::IONOSPHERIC_KLOBUCHAR: // 20.3.3.5.2.5
+              res.range_residual += space_node_gps->iono_correction(relative_pos, usr_pos.llh, time_arrival);
+              break;
+            case options_t::IONOSPHERIC_SBAS: { // 2.1.4.10.2, A.4.4.10.4
+              typename space_node_t::IonosphericGridPoints::PointProperty prop(
+                  sat->ionospheric_grid_points().iono_correction(relative_pos, usr_pos.llh));
+              if(!prop.is_available()){continue;}
+              res.range_residual += prop.delay;
+              break;
+            }
+            case options_t::IONOSPHERIC_NTCM_GL: {
+              // TODO f_10_7 setup, optimization (mag_model etc.)
+              typename gps_space_node_t::pierce_point_res_t pp(gps_space_node_t::pierce_point(relative_pos, usr_pos.llh));
+              res.range_residual -= gps_space_node_t::tec2delay(
+                  gps_space_node_t::slant_factor(relative_pos)
+                    * NTCM_GL_Generic<float_t>::tec_vert(
+                      pp.latitude, pp.longitude,
+                      time_arrival.year(), _options.f_10_7));
+              break;
+            }
+            case options_t::IONOSPHERIC_NONE:
+              break;
+            default:
+              continue;
+          }
+          iono_model_hit = true;
+          break;
+        }
+      }else{
+        res.range_residual += range_error.value[range_error_t::IONOSPHERIC];
+      }
+
+      // TODO Fast corrections (2.1.1.4.12)
+
+      // TODO Setup weight
+      if(std::abs(res.range_residual) > _options.residual_mask){
+        // If residual is too big, gently exclude it by decreasing its weight.
+        res.weight = 1E-8;
+      }else{
+
+        float_t elv(relative_pos.elevation());
+        if(elv < _options.elevation_mask){
+          res.weight = 0; // exclude it when elevation is less than threshold
+        }else{
+          // elevation weight based on "GPS���p�v���O���~���O" @see GPS_Solver.h
+          res.weight = std::pow(sin(elv)/0.8, 2);
+          if(res.weight < 1E-3){res.weight = 1E-3;}
+        }
+      }
+
+      res.range_corrected = range;
+
+      xyz_t rel_vel(sat_pos_vel.velocity - usr_vel); // Calculate velocity
+
+      // Note: clock rate error is already accounted for in constellation()
+      res.rate_relative_neg = res.los_neg[0] * rel_vel.x()
+          + res.los_neg[1] * rel_vel.y()
+          + res.los_neg[2] * rel_vel.z();
+
+      return res;
+    }
+
+    xyz_t *satellite_position(
+        const prn_t &prn,
+        const gps_time_t &time,
+        xyz_t &res) const {
+
+      const satellite_t *sat(is_available(prn, time));
+      return sat ? &(res = sat->ephemeris().constellation(time).position) : NULL;
+    }
+};
+
+#endif /* __SBAS_SOLVER_H__ */