gps_pvt 0.2.0 → 0.3.0

checksums.yaml

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

@@ -31,7 +31,17 @@ For user who just generate PVT solution, an attached executable is useful. After
 
     $ gps_pvt RINEX_or_UBX_file(s)
 
-For developer, this library will be used in the following:
+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 like:
 
 ```ruby
 require 'gps_pvt'
@@ -71,30 +81,47 @@ receiver.parse_rinex_obs(rinex_obs_file){|pvt, meas| # per epoch
   }
 }
 
-# Customize solution
+## Further customization
+# General options
 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, rcv_e, t_arv, usr_pos, usr_vel|
-  # control weight per satellite per iteration
+# receiver.solver.sbas_options is for SBAS.
+
+# Precise control of properties for each satellite and for each iteration
+receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
   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.
   
   weight = 1 # same as default; identical weight for each visible satellite
-  # or weight based on elevation
+  # or weight based on elevation, for example:
   # 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 # must return relative property
 }
 
+# Range correction (since v0.3.0)
+receiver.solver.correction = { # provide by using a Hash
+  # ionospheric and transpheric models are changeable, and current configuration
+  # can be obtained by receiver.solver.correction without assigner.
+  :gps_ionospheric => proc{|t, usr_pos_xyz, sat_pos_enu|
+    # t, usr_pos_xyz, sat_pos_enu are temporary solution of 
+    # time of arrival [s], user position in ECEF, 
+    # and satellite position in ENU respectively.
+    0 # must return correction value, delaying is negative.
+  },
+  # combination of (gps or sbas) and (ionospheric or tropospheric) are available
+}
+
 # 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|
+    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/exe/gps_pvt

@@ -6,23 +6,35 @@ 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 =~ /^--([^=]+)=?/
+# 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, $']
-  true
-}
-
-# Check file existence
-ARGV.each{|arg|
-  raise "File not found: #{arg}" unless File::exist?(arg)
+  nil
+}.compact
+
+# Check file existence and extension
+files.collect!{|fname, ftype|
+  raise "File not found: #{fname}" unless File::exist?(fname)
+  ftype ||= case fname
+  when /\.\d{2}[nhq]$/; :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)
@@ -30,17 +42,14 @@ rcv = GPS_PVT::Receiver::new(options)
 puts rcv.header
 
 # parse RINEX NAV
-ARGV.reject!{|arg|
-  next false unless arg =~ /\.\d{2}[nq]$/
-  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
 }