gps_pvt 0.1.5 → 0.2.1
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- checksums.yaml +4 -4
- data/README.md +16 -4
- data/Rakefile +9 -4
- data/exe/gps_pvt +32 -23
- data/ext/gps_pvt/Coordinate/Coordinate_wrap.cxx +5 -3
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +4302 -529
- 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 +33 -25
- data/ext/ninja-scan-light/tool/navigation/QZSS.h +62 -0
- data/ext/ninja-scan-light/tool/navigation/RINEX.h +583 -115
- 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 +284 -99
- data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb +18 -1
- data/lib/gps_pvt/receiver.rb +323 -141
- 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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* @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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@@ -66,7 +69,7 @@ struct GPS_Solver_GeneralOptions {
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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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@@ -78,7 +81,7 @@ struct GPS_Solver_GeneralOptions {
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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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-
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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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-
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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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@@ -266,11 +296,28 @@ class GPS_SinglePositioning : public SolverBaseT {
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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;
|
@@ -394,10 +395,11 @@ protected:
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* @return transformed design matrix G'
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*/
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static matrix_t rotate_G(const MatrixT &G_, const matrix_t &rotation_matrix){
|
397
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-
|
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-
res
|
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|
-
|
400
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-
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+
unsigned int r(G_.rows()), c(G_.columns()); // Normally c=4
|
399
|
+
matrix_t res(r, c);
|
400
|
+
res.partial(r, 3).replace(
|
401
|
+
G_.partial(r, 3) * rotation_matrix.transpose());
|
402
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+
res.partial(r, c - 3, 0, 3).replace(G_.partial(r, c - 3, 0, 3));
|
401
403
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return res;
|
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404
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}
|
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@@ -424,14 +426,16 @@ protected:
|
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* @see rotate_G
|
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*/
|
426
428
|
static matrix_t rotate_C(const matrix_t &C, const matrix_t &rotation_matrix){
|
427
|
-
|
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|
+
unsigned int n(C.rows()); // Normally n=4
|
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|
+
matrix_t res(n, n);
|
428
431
|
res.partial(3, 3).replace( // upper left
|
429
432
|
rotation_matrix * C.partial(3, 3) * rotation_matrix.transpose());
|
430
|
-
res.partial(3,
|
431
|
-
rotation_matrix * C.partial(3,
|
432
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-
res.partial(
|
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-
C.partial(
|
434
|
-
res(3,
|
433
|
+
res.partial(3, n - 3, 0, 3).replace( // upper right
|
434
|
+
rotation_matrix * C.partial(3, n - 3, 0, 3));
|
435
|
+
res.partial(n - 3, 3, 3, 0).replace( // lower left
|
436
|
+
C.partial(n - 3, 3, 3, 0) * rotation_matrix.transpose());
|
437
|
+
res.partial(n - 3, n - 3, 3, 3).replace( // lower right
|
438
|
+
C.partial(n - 3, n - 3, 3, 3));
|
435
439
|
return res;
|
436
440
|
}
|
437
441
|
/**
|
@@ -469,11 +473,10 @@ protected:
|
|
469
473
|
* @see rotate_G
|
470
474
|
*/
|
471
475
|
static matrix_t rotate_S(const matrix_t &S, const matrix_t &rotation_matrix){
|
472
|
-
|
473
|
-
res
|
474
|
-
|
475
|
-
|
476
|
-
}
|
476
|
+
unsigned int r(S.rows()), c(S.columns()); // Normally r=4
|
477
|
+
matrix_t res(r, c);
|
478
|
+
res.partial(3, c).replace(rotation_matrix * S.partial(3, c));
|
479
|
+
res.partial(r - 3, c, 3, 0).replace(S.partial(r - 3, c, 3, 0));
|
477
480
|
return res;
|
478
481
|
}
|
479
482
|
/**
|
@@ -536,7 +539,7 @@ protected:
|
|
536
539
|
partial_t partial(unsigned int size) const {
|
537
540
|
if(size >= G.rows()){size = G.rows();}
|
538
541
|
return partial_t(
|
539
|
-
G.partial(size,
|
542
|
+
G.partial(size, G.columns()), W.partial(size, size), delta_r.partial(size, 1));
|
540
543
|
}
|
541
544
|
typedef linear_solver_t<typename MatrixT::circular_t> exclude_t;
|
542
545
|
exclude_t exclude(const unsigned int &row) const {
|
@@ -544,14 +547,16 @@ protected:
|
|
544
547
|
if(size >= 1){size--;}
|
545
548
|
// generate matrices having circular view
|
546
549
|
return exclude_t(
|
547
|
-
G.circular(offset, 0, size,
|
550
|
+
G.circular(offset, 0, size, G.columns()),
|
548
551
|
W.circular(offset, offset, size, size),
|
549
552
|
delta_r.circular(offset, 0, size, 1));
|
550
553
|
}
|
551
554
|
template <class MatrixT2>
|
552
555
|
void copy_G_W_row(const linear_solver_t<MatrixT2> &src,
|
553
556
|
const unsigned int &i_src, const unsigned int &i_dst){
|
554
|
-
|
557
|
+
unsigned int c_dst(G.columns()), c_src(src.G.columns()),
|
558
|
+
c(c_dst > c_src ? c_src : c_dst); // Normally c=4
|
559
|
+
for(unsigned int j(0); j < c; ++j){
|
555
560
|
G(i_dst, j) = src.G(i_src, j);
|
556
561
|
}
|
557
562
|
W(i_dst, i_dst) = src.W(i_src, i_src);
|
@@ -560,9 +565,12 @@ protected:
|
|
560
565
|
|
561
566
|
struct geometric_matrices_t : public linear_solver_t<matrix_t> {
|
562
567
|
typedef linear_solver_t<matrix_t> super_t;
|
563
|
-
geometric_matrices_t(
|
568
|
+
geometric_matrices_t(
|
569
|
+
const unsigned int &capacity,
|
570
|
+
const unsigned int &estimate_system_differences = 0)
|
564
571
|
: super_t(
|
565
|
-
matrix_t(capacity, 4
|
572
|
+
matrix_t(capacity, 4 + estimate_system_differences),
|
573
|
+
matrix_t(capacity, capacity), matrix_t(capacity, 1)) {
|
566
574
|
for(unsigned int i(0); i < capacity; ++i){
|
567
575
|
super_t::G(i, 3) = 1;
|
568
576
|
}
|
@@ -0,0 +1,62 @@
|
|
1
|
+
/*
|
2
|
+
* Copyright (c) 2021, M.Naruoka (fenrir)
|
3
|
+
* All rights reserved.
|
4
|
+
*
|
5
|
+
* Redistribution and use in source and binary forms, with or without modification,
|
6
|
+
* are permitted provided that the following conditions are met:
|
7
|
+
*
|
8
|
+
* - Redistributions of source code must retain the above copyright notice,
|
9
|
+
* this list of conditions and the following disclaimer.
|
10
|
+
* - Redistributions in binary form must reproduce the above copyright notice,
|
11
|
+
* this list of conditions and the following disclaimer in the documentation
|
12
|
+
* and/or other materials provided with the distribution.
|
13
|
+
* - Neither the name of the naruoka.org nor the names of its contributors
|
14
|
+
* may be used to endorse or promote products derived from this software
|
15
|
+
* without specific prior written permission.
|
16
|
+
*
|
17
|
+
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
18
|
+
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
19
|
+
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
20
|
+
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
|
21
|
+
* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
|
22
|
+
* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
23
|
+
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
24
|
+
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
25
|
+
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
26
|
+
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
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__ */
|