gps_pvt 0.1.5 → 0.2.1

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -31,6 +31,16 @@ For user who just generate PVT solution, an attached executable is useful. After
 
     $ gps_pvt RINEX_or_UBX_file(s)
 
+The format of RINEX_or_UBX_file is automatically determined with its extention, such as .ubx will be treated as UBX format. If you want to specify the file format, instead of RINEX_or_UBX_file(s), use the following arguments:
+
+    --rinex_nav=filename
+    --rinex_obs=filename
+    --ubx=filename
+
+From version 0.2.0, SBAS and QZSS are supported in addition to GPS. QZSS ranging is activated in default, however, SBAS is just utilized for ionospheric correction. If you want to activate SBAS ranging, "--with=(SBAS PRN number, ex. 137)" option is used with gps_pvt executable like
+
+    $ gps_pvt --with=137 RINEX_or_UBX_file(s)
+
 For developer, this library will be used in the following:
 
 ```ruby
@@ -72,11 +82,13 @@ receiver.parse_rinex_obs(rinex_obs_file){|pvt, meas| # per epoch
 }
 
 # 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|
+receiver.solver.gps_options.exclude(prn) # Exclude satellite; the default is to use every satellite if visible
+receiver.solver.gps_options.include(prn) # Discard previous setting of exclusion
+receiver.solver.gps_options.elevation_mask = Math::PI / 180 * 10 # example 10 [deg] elevation mask
+receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, 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
+  # meas is measurement represented by pseudo range of the selected satellite.
   # 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.
   
@@ -93,7 +105,7 @@ receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, rcv_e, t_arv, u
   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|
+    receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
       # Do something based on meas, t_meas.
       rel_prop
     }

data/Rakefile

@@ -30,6 +30,8 @@ namespace :git do
           "sparse-checkout set" + (<<-__SPARSE_PATTERNS__).lines.collect{|str| str.chomp.gsub(/^ */, ' ')}.join,
             /tool/param/
             /tool/navigation/GPS*
+            /tool/navigation/SBAS*
+            /tool/navigation/QZSS*
             /tool/navigation/coordinate.h
             /tool/navigation/EGM.h
             /tool/navigation/MagneticField.h
@@ -69,12 +71,15 @@ task :swig do
       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, 'r+'){|io|
+        lines = io.read.lines.collect{|line|
+          line.sub(/rb_require\(\"([^\"]+)\"\)/){ # from camel to underscore downcase style
+            "rb_require(\"#{$1.sub('GPS_PVT', 'gps_pvt')}\")"
+          }
         }
+        io.rewind
+        io.write(lines.join)
       }
-      open(wrapper, 'w').write(lines.join)
     }
   }
 end

data/exe/gps_pvt

@@ -6,41 +6,50 @@ require 'gps_pvt'
 
 $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.
+As GPS_file, rinex_nav(*.YYn, *.YYh, *.YYq), rinex_obs(*.YYo), and ubx(*.ubx) format are currently supported.
 File format is automatically determined based on its extention described in above parentheses.
+If you want to specify its format manually, --rinex_(nav|obs)=file_name or --ubx=file_name are available.
+Supported RINEX versions are 2 and 3.
 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)
+options = []
+
+# check options and file format
+files = ARGV.collect{|arg|
+  next [arg, nil] unless arg =~ /^--([^=]+)=?/
+  k, v = [$1.downcase.to_sym, $']
+  next [v, k] if [:rinex_nav, :rinex_obs, :ubx].include?(k) # file type
+  options << [$1.to_sym, $']
+  nil
+}.compact
+
+# Check file existence and extension
+files.collect!{|fname, ftype|
+  raise "File not found: #{fname}" unless File::exist?(fname)
+  ftype ||= case fname
+  when /\.\d{2}[nhq]$/; :rinex_nav
+  when /\.\d{2}o$/; :rinex_obs
+  when /\.ubx$/; :ubx
+  else
+    raise "Format cannot be guessed, use --(format, ex. rinex_nav)=#{fname}"
+  end
+  [fname, ftype]
 }
 
 rcv = GPS_PVT::Receiver::new(options)
 
-puts GPS_PVT::Receiver::header
+puts rcv.header
 
 # parse RINEX NAV
-ARGV.reject!{|arg|
-  next false unless arg =~ /\.\d{2}n$/
-  rcv.parse_rinex_nav(arg)
+files.each{|fname, ftype|
+  rcv.parse_rinex_nav(fname) if ftype == :rinex_nav
 }
 
 # other files
-ARGV.each{|arg|
-  case arg
-  when /\.ubx$/
-    rcv.parse_ubx(arg)
-  when /\.\d{2}o$/
-    rcv.parse_rinex_obs(arg)
+files.each{|fname, ftype|
+  case ftype
+  when :ubx; rcv.parse_ubx(fname)
+  when :rinex_obs; rcv.parse_rinex_obs(fname)
   end
 }

data/ext/gps_pvt/Coordinate/Coordinate_wrap.cxx

@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
  * This file was automatically generated by SWIG (http://www.swig.org).
- * Version 4.0.1
+ * Version 4.0.2
  *
  * This file is not intended to be easily readable and contains a number of
  * coding conventions designed to improve portability and efficiency. Do not make
@@ -1612,6 +1612,8 @@ SWIGRUNTIMEINLINE char *
 SWIG_Ruby_MangleStr(VALUE obj)
 {
   VALUE stype = rb_iv_get(obj, "@__swigtype__");
+  if (NIL_P(stype))
+    return NULL;
   return StringValuePtr(stype);
 }
 
@@ -1872,7 +1874,7 @@ static VALUE mCoordinate;
 #define SWIG_RUBY_THREAD_END_BLOCK
 
 
-#define SWIGVERSION 0x040001 
+#define SWIGVERSION 0x040002 
 #define SWIG_VERSION SWIGVERSION
 
 
@@ -2205,7 +2207,7 @@ SWIG_ruby_failed(VALUE SWIGUNUSEDPARM(arg1), VALUE SWIGUNUSEDPARM(arg2))
 } 
 
 
-/*@SWIG:/usr/share/swig4.0/ruby/rubyprimtypes.swg,19,%ruby_aux_method@*/
+/*@SWIG:/usr/local/share/swig/4.0.2/ruby/rubyprimtypes.swg,19,%ruby_aux_method@*/
 SWIGINTERN VALUE SWIG_AUX_NUM2DBL(VALUE arg)
 {
   VALUE *args = (VALUE *)arg;