gps_pvt 0.2.0 → 0.3.0
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- checksums.yaml +4 -4
- data/README.md +33 -6
- data/Rakefile +0 -0
- data/exe/gps_pvt +28 -19
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +596 -467
- data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx +277 -14
- data/ext/ninja-scan-light/tool/navigation/GPS.h +8 -43
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h +61 -147
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +83 -22
- data/ext/ninja-scan-light/tool/navigation/RINEX.h +15 -5
- data/ext/ninja-scan-light/tool/navigation/SBAS.h +2 -2
- data/ext/ninja-scan-light/tool/navigation/SBAS_Solver.h +55 -78
- data/ext/ninja-scan-light/tool/param/bit_array.h +4 -3
- data/ext/ninja-scan-light/tool/swig/GPS.i +342 -103
- data/ext/ninja-scan-light/tool/swig/SylphideMath.i +53 -6
- data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb +42 -6
- data/ext/ninja-scan-light/tool/swig/spec/SylphideMath_spec.rb +38 -4
- data/gps_pvt.gemspec +63 -0
- data/lib/gps_pvt/receiver.rb +86 -41
- data/lib/gps_pvt/version.rb +1 -1
- metadata +7 -6
@@ -526,6 +526,9 @@ class GPS_SpaceNode {
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return res;
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}
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static const float_t gamma_L1_L2;
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529
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+
static const float_t gamma_per_L1(const float_t &freq){
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+
return std::pow(L1_Frequency / freq, 2);
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}
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protected:
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static float_t rad2sc(const float_t &rad) {return rad / M_PI;}
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@@ -2151,37 +2154,17 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
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usr.llh(),
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t);
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}
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-
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struct IonospericCorrection {
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const GPS_SpaceNode<float_t> &space_node;
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float_t operator()(
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const enu_t &relative_pos,
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const llh_t &usrllh,
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const gps_time_t &t) const {
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return space_node.iono_correction(relative_pos, usrllh, t);
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}
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float_t operator()(
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const xyz_t &sat,
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const xyz_t &usr,
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const gps_time_t &t) const {
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return space_node.iono_correction(sat, usr, t);
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2168
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-
}
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2169
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};
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IonospericCorrection iono_correction() const {
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IonospericCorrection res = {*this};
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return res;
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-
}
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/**
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-
* Calculate correction value in accordance with tropospheric model
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* Calculate correction value in accordance with tropospheric Hopfield model
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*
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* @param relative_pos satellite position (relative position, NEU)
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* @param usrllh user position (absolute position, LLH)
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* @return correction in meters
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*/
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-
float_t tropo_correction(
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static float_t tropo_correction(
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const enu_t &relative_pos,
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const llh_t &usrllh)
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const llh_t &usrllh){
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// Elevation (rad)
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float_t el(relative_pos.elevation());
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@@ -2291,31 +2274,13 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
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* @param usr user position (absolute position, XYZ)
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* @return correction in meters
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*/
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float_t tropo_correction(
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static float_t tropo_correction(
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const xyz_t &sat,
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const xyz_t &usr)
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const xyz_t &usr) {
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return tropo_correction(
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enu_t::relative(sat, usr),
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usr.llh());
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}
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-
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struct TropospericCorrection {
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const GPS_SpaceNode<float_t> &space_node;
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float_t operator()(
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const enu_t &relative_pos,
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const llh_t &usrllh) const {
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return space_node.tropo_correction(relative_pos, usrllh);
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}
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float_t operator()(
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const xyz_t &sat,
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const xyz_t &usr) const {
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return space_node.tropo_correction(sat, usr);
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}
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};
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TropospericCorrection tropo_correction() const {
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TropospericCorrection res = {*this};
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return res;
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}
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};
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template <class FloatT>
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@@ -49,7 +49,6 @@
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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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@@ -57,66 +56,10 @@ struct GPS_Solver_GeneralOptions {
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FloatT elevation_mask;
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FloatT residual_mask;
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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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IONOSPHERIC_SKIP = IONOSPHERIC_MODELS, // which means delegating the next slot
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};
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ionospheric_model_t ionospheric_models[IONOSPHERIC_MODELS]; // lower index means having higher priority
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int count_ionospheric_models() const {
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int res(0);
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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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}
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FloatT f_10_7;
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-
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GPS_Solver_GeneralOptions()
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: elevation_mask(0), // elevation mask default is 0 [deg]
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residual_mask(30)
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f_10_7(-1) {
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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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ionospheric_models[0] = IONOSPHERIC_KLOBUCHAR;
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}
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bool insert_ionospheric_model(const ionospheric_model_t &model, const int &index = 0) {
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if((index < 0)
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|| (index >= sizeof(ionospheric_models) / sizeof(ionospheric_models[0]))){
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return false;
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}
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+
residual_mask(30) { // range residual mask is 30 [m]
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// shift, then replace
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for(int i(index), j(i + 1); j < sizeof(ionospheric_models) / sizeof(ionospheric_models[0]); ++i, ++j){
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ionospheric_models[j] = ionospheric_models[i];
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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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-
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return true;
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}
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};
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@@ -158,24 +101,23 @@ class GPS_SinglePositioning : public SolverBaseT {
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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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-
|
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inheritate_type(pos_t);
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inheritate_type(prn_obs_t);
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typedef typename base_t::measurement_t measurement_t;
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inheritate_type(measurement_items_t);
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typedef typename base_t::range_error_t range_error_t;
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typedef typename base_t::range_corrector_t range_corrector_t;
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+
typedef typename base_t::range_correction_t range_correction_t;
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inheritate_type(relative_property_t);
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inheritate_type(geometric_matrices_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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-
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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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@@ -183,43 +125,50 @@ class GPS_SinglePositioning : public SolverBaseT {
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public:
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const space_node_t &space_node() const {return _space_node;}
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-
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-
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-
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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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201
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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()){usable = true;}
|
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break;
|
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case options_t::IONOSPHERIC_SBAS:
|
206
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-
if(space_node_sbas){usable = true;}
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break;
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208
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case options_t::IONOSPHERIC_NTCM_GL:
|
209
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if(opt.f_10_7 >= 0){usable = true;}
|
210
|
-
// check F10.7 has been already configured
|
211
|
-
break;
|
212
|
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default: break;
|
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|
-
}
|
214
|
-
if(usable){
|
215
|
-
available_models++;
|
216
|
-
}else{
|
217
|
-
opt.ionospheric_models[i] = options_t::IONOSPHERIC_SKIP;
|
218
|
-
}
|
128
|
+
struct klobuchar_t : public range_corrector_t {
|
129
|
+
const space_node_t &space_node;
|
130
|
+
klobuchar_t(const space_node_t &sn) : range_corrector_t(), space_node(sn) {}
|
131
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+
bool is_available(const gps_time_t &t) const {
|
132
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+
return space_node.is_valid_iono();
|
133
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+
}
|
134
|
+
float_t *calculate(
|
135
|
+
const gps_time_t &t, const pos_t &usr_pos, const enu_t &sat_rel_pos,
|
136
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+
float_t &buf) const {
|
137
|
+
return &(buf = space_node.iono_correction(sat_rel_pos, usr_pos.llh, t));
|
219
138
|
}
|
139
|
+
} ionospheric_klobuchar;
|
220
140
|
|
221
|
-
|
222
|
-
|
141
|
+
struct ntcm_gl_t : public range_corrector_t {
|
142
|
+
float_t f_10_7;
|
143
|
+
ntcm_gl_t() : range_corrector_t(), f_10_7(-1) {}
|
144
|
+
bool is_available(const gps_time_t &t) const {
|
145
|
+
return f_10_7 >= 0;
|
146
|
+
}
|
147
|
+
float_t *calculate(
|
148
|
+
const gps_time_t &t, const pos_t &usr_pos, const enu_t &sat_rel_pos,
|
149
|
+
float_t &buf) const {
|
150
|
+
if(!is_available(t)){return NULL;}
|
151
|
+
typename space_node_t::pierce_point_res_t pp(
|
152
|
+
space_node_t::pierce_point(sat_rel_pos, usr_pos.llh));
|
153
|
+
return &(buf = -space_node_t::tec2delay(space_node_t::slant_factor(sat_rel_pos)
|
154
|
+
* NTCM_GL_Generic<float_t>::tec_vert(
|
155
|
+
pp.latitude, pp.longitude, t.year(), f_10_7)));
|
156
|
+
}
|
157
|
+
} ionospheric_ntcm_gl;
|
158
|
+
|
159
|
+
struct tropospheric_simplified_t : public range_corrector_t {
|
160
|
+
tropospheric_simplified_t() : range_corrector_t() {}
|
161
|
+
bool is_available(const gps_time_t &t) const {
|
162
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+
return true;
|
163
|
+
}
|
164
|
+
float_t *calculate(
|
165
|
+
const gps_time_t &t, const pos_t &usr_pos, const enu_t &sat_rel_pos,
|
166
|
+
float_t &buf) const {
|
167
|
+
return &(buf = space_node_t::tropo_correction(sat_rel_pos, usr_pos.llh));
|
168
|
+
}
|
169
|
+
} tropospheric_simplified;
|
170
|
+
|
171
|
+
range_correction_t ionospheric_correction, tropospheric_correction;
|
223
172
|
|
224
173
|
options_t available_options() const {
|
225
174
|
return options_t(base_t::available_options(), _options);
|
@@ -227,20 +176,26 @@ class GPS_SinglePositioning : public SolverBaseT {
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|
227
176
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|
228
177
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options_t available_options(const options_t &opt_wish) const {
|
229
178
|
GPS_SinglePositioning_Options<float_t> opt(opt_wish);
|
230
|
-
filter_ionospheric_models(opt);
|
231
179
|
return options_t(base_t::available_options(opt_wish), opt);
|
232
180
|
}
|
233
181
|
|
234
182
|
options_t update_options(const options_t &opt_wish){
|
235
|
-
|
183
|
+
_options = opt_wish;
|
236
184
|
return options_t(base_t::update_options(opt_wish), _options);
|
237
185
|
}
|
238
186
|
|
239
187
|
GPS_SinglePositioning(const space_node_t &sn)
|
240
|
-
: base_t(),
|
241
|
-
|
242
|
-
|
243
|
-
|
188
|
+
: base_t(), _space_node(sn), _options(available_options(options_t())),
|
189
|
+
ionospheric_klobuchar(sn), ionospheric_ntcm_gl(),
|
190
|
+
tropospheric_simplified(),
|
191
|
+
ionospheric_correction(), tropospheric_correction() {
|
192
|
+
|
193
|
+
// default ionospheric correction:
|
194
|
+
// Broadcasted Klobuchar parameters are at least required for solution.
|
195
|
+
ionospheric_correction.push_front(&ionospheric_klobuchar);
|
196
|
+
|
197
|
+
// default troposheric correction: simplified
|
198
|
+
tropospheric_correction.push_front(&tropospheric_simplified);
|
244
199
|
}
|
245
200
|
|
246
201
|
~GPS_SinglePositioning(){}
|
@@ -294,55 +249,14 @@ class GPS_SinglePositioning : public SolverBaseT {
|
|
294
249
|
enu_t relative_pos(enu_t::relative(sat_pos, usr_pos.xyz));
|
295
250
|
|
296
251
|
if(error.unknown_flag & range_error_t::MASK_IONOSPHERIC){
|
297
|
-
|
298
|
-
bool iono_model_hit(false);
|
299
|
-
for(std::size_t i(0);
|
300
|
-
i < sizeof(_options.ionospheric_models) / sizeof(_options.ionospheric_models[0]);
|
301
|
-
++i){
|
302
|
-
switch(_options.ionospheric_models[i]){
|
303
|
-
case options_t::IONOSPHERIC_KLOBUCHAR:
|
304
|
-
residual.residual += _space_node.iono_correction(relative_pos, usr_pos.llh, time_arrival);
|
305
|
-
break;
|
306
|
-
case options_t::IONOSPHERIC_SBAS: {
|
307
|
-
// placeholder of checking availability and performing correction
|
308
|
-
typedef typename SBAS_SpaceNode<float_t>::available_satellites_t sats_t;
|
309
|
-
sats_t sats(space_node_sbas->available_satellites(usr_pos.llh.longitude()));
|
310
|
-
|
311
|
-
typename SBAS_SpaceNode<float_t>::IonosphericGridPoints::PointProperty prop;
|
312
|
-
for(typename sats_t::const_iterator it(sats.begin()); it != sats.end(); ++it){
|
313
|
-
prop = it->second
|
314
|
-
->ionospheric_grid_points().iono_correction(relative_pos, usr_pos.llh);
|
315
|
-
break; // TODO The nearest satellite is only checked
|
316
|
-
}
|
317
|
-
if(!prop.is_available()){continue;}
|
318
|
-
residual.residual += prop.delay;
|
319
|
-
break;
|
320
|
-
}
|
321
|
-
case options_t::IONOSPHERIC_NTCM_GL: {
|
322
|
-
// TODO f_10_7 setup, optimization (mag_model etc.)
|
323
|
-
typename space_node_t::pierce_point_res_t pp(_space_node.pierce_point(relative_pos, usr_pos.llh));
|
324
|
-
residual.residual -= space_node_t::tec2delay(
|
325
|
-
_space_node.slant_factor(relative_pos)
|
326
|
-
* NTCM_GL_Generic<float_t>::tec_vert(
|
327
|
-
pp.latitude, pp.longitude,
|
328
|
-
time_arrival.year(), _options.f_10_7));
|
329
|
-
break;
|
330
|
-
}
|
331
|
-
case options_t::IONOSPHERIC_NONE:
|
332
|
-
break;
|
333
|
-
default:
|
334
|
-
continue;
|
335
|
-
}
|
336
|
-
iono_model_hit = true;
|
337
|
-
break;
|
338
|
-
}
|
252
|
+
residual.residual += ionospheric_correction(time_arrival, usr_pos, relative_pos);
|
339
253
|
}else{
|
340
254
|
residual.residual += error.value[range_error_t::IONOSPHERIC];
|
341
255
|
}
|
342
256
|
|
343
257
|
// Tropospheric
|
344
258
|
residual.residual += (error.unknown_flag & range_error_t::MASK_TROPOSPHERIC)
|
345
|
-
?
|
259
|
+
? tropospheric_correction(time_arrival, usr_pos, relative_pos)
|
346
260
|
: error.value[range_error_t::TROPOSPHERIC];
|
347
261
|
|
348
262
|
// Setup weight
|
@@ -488,7 +402,7 @@ class GPS_SinglePositioning : public SolverBaseT {
|
|
488
402
|
|
489
403
|
res.receiver_time = receiver_time;
|
490
404
|
|
491
|
-
if(
|
405
|
+
if(!ionospheric_correction.select(receiver_time)){
|
492
406
|
res.error_code = user_pvt_t::ERROR_INVALID_IONO_MODEL;
|
493
407
|
return;
|
494
408
|
}
|
@@ -38,6 +38,8 @@
|
|
38
38
|
#include <vector>
|
39
39
|
#include <map>
|
40
40
|
#include <utility>
|
41
|
+
#include <deque>
|
42
|
+
#include <algorithm>
|
41
43
|
|
42
44
|
#include <cmath>
|
43
45
|
#include <cstring>
|
@@ -101,6 +103,7 @@ struct GPS_Solver_Base {
|
|
101
103
|
L1_RANGE_RATE_SIGMA,
|
102
104
|
L1_SIGNAL_STRENGTH_dBHz,
|
103
105
|
L1_LOCK_SEC,
|
106
|
+
L1_FREQUENCY,
|
104
107
|
MEASUREMENT_ITEMS_PREDEFINED,
|
105
108
|
};
|
106
109
|
};
|
@@ -223,6 +226,53 @@ struct GPS_Solver_Base {
|
|
223
226
|
return res;
|
224
227
|
}
|
225
228
|
|
229
|
+
struct range_corrector_t {
|
230
|
+
virtual ~range_corrector_t() {}
|
231
|
+
virtual bool is_available(const gps_time_t &t) const {
|
232
|
+
return false;
|
233
|
+
}
|
234
|
+
virtual float_t *calculate(
|
235
|
+
const gps_time_t &t, const pos_t &usr_pos, const enu_t &sat_rel_pos,
|
236
|
+
float_t &buf) const = 0;
|
237
|
+
};
|
238
|
+
static const struct no_correction_t : public range_corrector_t {
|
239
|
+
bool is_available(const gps_time_t &t) const {
|
240
|
+
return true;
|
241
|
+
}
|
242
|
+
float_t *calculate(
|
243
|
+
const gps_time_t &t, const pos_t &usr_pos, const enu_t &sat_rel_pos,
|
244
|
+
float_t &buf) const {
|
245
|
+
return &(buf = 0);
|
246
|
+
}
|
247
|
+
} no_correction;
|
248
|
+
struct range_correction_t : public std::deque<const range_corrector_t *> {
|
249
|
+
typedef std::deque<const range_corrector_t *> super_t;
|
250
|
+
range_correction_t() : super_t() {}
|
251
|
+
const range_corrector_t *select(const gps_time_t &t) const {
|
252
|
+
for(typename super_t::const_iterator it(super_t::begin()), it_end(super_t::end());
|
253
|
+
it != it_end; ++it){
|
254
|
+
if((*it)->is_available(t)){return *it;}
|
255
|
+
}
|
256
|
+
return NULL;
|
257
|
+
}
|
258
|
+
float_t operator()(
|
259
|
+
const gps_time_t &t, const pos_t &usr_pos, const enu_t &sat_rel_pos) const {
|
260
|
+
float_t res;
|
261
|
+
for(typename super_t::const_iterator it(super_t::begin()), it_end(super_t::end());
|
262
|
+
it != it_end; ++it){
|
263
|
+
if((*it)->calculate(t, usr_pos, sat_rel_pos, res)){return res;}
|
264
|
+
}
|
265
|
+
return 0;
|
266
|
+
}
|
267
|
+
void remove(const typename super_t::value_type &v){
|
268
|
+
std::remove(super_t::begin(), super_t::end(), v);
|
269
|
+
}
|
270
|
+
void add(const typename super_t::value_type &v){
|
271
|
+
remove(v);
|
272
|
+
super_t::push_front(v);
|
273
|
+
}
|
274
|
+
};
|
275
|
+
|
226
276
|
/**
|
227
277
|
* Select appropriate solver, this is provision for GNSS extension
|
228
278
|
* @param prn satellite number
|
@@ -395,10 +445,11 @@ protected:
|
|
395
445
|
* @return transformed design matrix G'
|
396
446
|
*/
|
397
447
|
static matrix_t rotate_G(const MatrixT &G_, const matrix_t &rotation_matrix){
|
398
|
-
|
399
|
-
res
|
400
|
-
|
401
|
-
|
448
|
+
unsigned int r(G_.rows()), c(G_.columns()); // Normally c=4
|
449
|
+
matrix_t res(r, c);
|
450
|
+
res.partial(r, 3).replace(
|
451
|
+
G_.partial(r, 3) * rotation_matrix.transpose());
|
452
|
+
res.partial(r, c - 3, 0, 3).replace(G_.partial(r, c - 3, 0, 3));
|
402
453
|
return res;
|
403
454
|
}
|
404
455
|
|
@@ -425,14 +476,16 @@ protected:
|
|
425
476
|
* @see rotate_G
|
426
477
|
*/
|
427
478
|
static matrix_t rotate_C(const matrix_t &C, const matrix_t &rotation_matrix){
|
428
|
-
|
479
|
+
unsigned int n(C.rows()); // Normally n=4
|
480
|
+
matrix_t res(n, n);
|
429
481
|
res.partial(3, 3).replace( // upper left
|
430
482
|
rotation_matrix * C.partial(3, 3) * rotation_matrix.transpose());
|
431
|
-
res.partial(3,
|
432
|
-
rotation_matrix * C.partial(3,
|
433
|
-
res.partial(
|
434
|
-
C.partial(
|
435
|
-
res(3,
|
483
|
+
res.partial(3, n - 3, 0, 3).replace( // upper right
|
484
|
+
rotation_matrix * C.partial(3, n - 3, 0, 3));
|
485
|
+
res.partial(n - 3, 3, 3, 0).replace( // lower left
|
486
|
+
C.partial(n - 3, 3, 3, 0) * rotation_matrix.transpose());
|
487
|
+
res.partial(n - 3, n - 3, 3, 3).replace( // lower right
|
488
|
+
C.partial(n - 3, n - 3, 3, 3));
|
436
489
|
return res;
|
437
490
|
}
|
438
491
|
/**
|
@@ -470,11 +523,10 @@ protected:
|
|
470
523
|
* @see rotate_G
|
471
524
|
*/
|
472
525
|
static matrix_t rotate_S(const matrix_t &S, const matrix_t &rotation_matrix){
|
473
|
-
|
474
|
-
res
|
475
|
-
|
476
|
-
|
477
|
-
}
|
526
|
+
unsigned int r(S.rows()), c(S.columns()); // Normally r=4
|
527
|
+
matrix_t res(r, c);
|
528
|
+
res.partial(3, c).replace(rotation_matrix * S.partial(3, c));
|
529
|
+
res.partial(r - 3, c, 3, 0).replace(S.partial(r - 3, c, 3, 0));
|
478
530
|
return res;
|
479
531
|
}
|
480
532
|
/**
|
@@ -537,7 +589,7 @@ protected:
|
|
537
589
|
partial_t partial(unsigned int size) const {
|
538
590
|
if(size >= G.rows()){size = G.rows();}
|
539
591
|
return partial_t(
|
540
|
-
G.partial(size,
|
592
|
+
G.partial(size, G.columns()), W.partial(size, size), delta_r.partial(size, 1));
|
541
593
|
}
|
542
594
|
typedef linear_solver_t<typename MatrixT::circular_t> exclude_t;
|
543
595
|
exclude_t exclude(const unsigned int &row) const {
|
@@ -545,14 +597,16 @@ protected:
|
|
545
597
|
if(size >= 1){size--;}
|
546
598
|
// generate matrices having circular view
|
547
599
|
return exclude_t(
|
548
|
-
G.circular(offset, 0, size,
|
600
|
+
G.circular(offset, 0, size, G.columns()),
|
549
601
|
W.circular(offset, offset, size, size),
|
550
602
|
delta_r.circular(offset, 0, size, 1));
|
551
603
|
}
|
552
604
|
template <class MatrixT2>
|
553
605
|
void copy_G_W_row(const linear_solver_t<MatrixT2> &src,
|
554
606
|
const unsigned int &i_src, const unsigned int &i_dst){
|
555
|
-
|
607
|
+
unsigned int c_dst(G.columns()), c_src(src.G.columns()),
|
608
|
+
c(c_dst > c_src ? c_src : c_dst); // Normally c=4
|
609
|
+
for(unsigned int j(0); j < c; ++j){
|
556
610
|
G(i_dst, j) = src.G(i_src, j);
|
557
611
|
}
|
558
612
|
W(i_dst, i_dst) = src.W(i_src, i_src);
|
@@ -561,9 +615,12 @@ protected:
|
|
561
615
|
|
562
616
|
struct geometric_matrices_t : public linear_solver_t<matrix_t> {
|
563
617
|
typedef linear_solver_t<matrix_t> super_t;
|
564
|
-
geometric_matrices_t(
|
618
|
+
geometric_matrices_t(
|
619
|
+
const unsigned int &capacity,
|
620
|
+
const unsigned int &estimate_system_differences = 0)
|
565
621
|
: super_t(
|
566
|
-
matrix_t(capacity, 4
|
622
|
+
matrix_t(capacity, 4 + estimate_system_differences),
|
623
|
+
matrix_t(capacity, capacity), matrix_t(capacity, 1)) {
|
567
624
|
for(unsigned int i(0); i < capacity; ++i){
|
568
625
|
super_t::G(i, 3) = 1;
|
569
626
|
}
|
@@ -595,14 +652,14 @@ protected:
|
|
595
652
|
// Least square
|
596
653
|
matrix_t delta_x(geomat.partial(res.used_satellites).least_square());
|
597
654
|
|
598
|
-
xyz_t delta_user_position(delta_x.partial(3, 1
|
655
|
+
xyz_t delta_user_position(delta_x.partial(3, 1));
|
599
656
|
res.user_position.xyz += delta_user_position;
|
600
657
|
res.user_position.llh = res.user_position.xyz.llh();
|
601
658
|
|
602
659
|
const float_t &delta_receiver_error(delta_x(3, 0));
|
603
660
|
res.receiver_error += delta_receiver_error;
|
604
661
|
|
605
|
-
return (
|
662
|
+
return (delta_x.partial(4, 1).norm2F() <= 1E-6); // equivalent to abs(x) <= 1E-3 [m]
|
606
663
|
}
|
607
664
|
|
608
665
|
struct user_pvt_opt_t {
|
@@ -1036,6 +1093,10 @@ const typename GPS_Solver_Base<FloatT>::range_error_t
|
|
1036
1093
|
{0},
|
1037
1094
|
};
|
1038
1095
|
|
1096
|
+
template <class FloatT>
|
1097
|
+
const typename GPS_Solver_Base<FloatT>::no_correction_t
|
1098
|
+
GPS_Solver_Base<FloatT>::no_correction;
|
1099
|
+
|
1039
1100
|
template <class FloatT, class PVT_BaseT = typename GPS_Solver_Base<FloatT>::user_pvt_t>
|
1040
1101
|
struct GPS_PVT_Debug : public PVT_BaseT {
|
1041
1102
|
typename GPS_Solver_Base<FloatT>::matrix_t G, W, delta_r;
|
@@ -846,8 +846,10 @@ class RINEX_NAV_Reader : public RINEX_Reader<> {
|
|
846
846
|
};
|
847
847
|
|
848
848
|
static int read_all(std::istream &in, space_node_list_t &space_nodes = {0}){
|
849
|
-
int res(-1);
|
850
849
|
RINEX_NAV_Reader reader(in);
|
850
|
+
if(reader.version_type.file_type != version_type_t::FTYPE_NAVIGATION){
|
851
|
+
return -1;
|
852
|
+
}
|
851
853
|
if(space_nodes.gps){
|
852
854
|
(reader.version_type.version >= 300)
|
853
855
|
? reader.extract_iono_utc_v3(*space_nodes.gps)
|
@@ -857,7 +859,7 @@ class RINEX_NAV_Reader : public RINEX_Reader<> {
|
|
857
859
|
&& (reader.version_type.version >= 302)){
|
858
860
|
reader.extract_iono_utc_v3(*space_nodes.qzss);
|
859
861
|
}
|
860
|
-
res
|
862
|
+
int res(0);
|
861
863
|
for(; reader.has_next(); reader.next()){
|
862
864
|
switch(reader.sys_of_msg){
|
863
865
|
case super_t::version_type_t::SYS_GPS:
|
@@ -1140,6 +1142,9 @@ class RINEX_OBS_Reader : public RINEX_Reader<> {
|
|
1140
1142
|
RINEX_OBS_Reader(std::istream &in)
|
1141
1143
|
: super_t(in, self_t::modify_header),
|
1142
1144
|
obs_types() {
|
1145
|
+
if(super_t::version_type.file_type != version_type_t::FTYPE_OBSERVATION){
|
1146
|
+
return;
|
1147
|
+
}
|
1143
1148
|
typedef super_t::header_t::const_iterator it_t;
|
1144
1149
|
typedef super_t::header_t::mapped_type::const_iterator it2_t;
|
1145
1150
|
it_t it;
|
@@ -1860,8 +1865,13 @@ class RINEX_NAV_Writer : public RINEX_Writer<> {
|
|
1860
1865
|
version, super_t::version_type_t::FTYPE_NAVIGATION, sys));
|
1861
1866
|
}
|
1862
1867
|
|
1868
|
+
struct space_node_list_t {
|
1869
|
+
const space_node_t *gps;
|
1870
|
+
const SBAS_SpaceNode<FloatT> *sbas;
|
1871
|
+
const space_node_t *qzss;
|
1872
|
+
};
|
1863
1873
|
int write_all(
|
1864
|
-
const
|
1874
|
+
const space_node_list_t &space_nodes,
|
1865
1875
|
const int &version = 304){
|
1866
1876
|
int res(-1);
|
1867
1877
|
int systems(0);
|
@@ -1966,12 +1976,12 @@ class RINEX_NAV_Writer : public RINEX_Writer<> {
|
|
1966
1976
|
}
|
1967
1977
|
static int write_all(
|
1968
1978
|
std::ostream &out,
|
1969
|
-
const
|
1979
|
+
const space_node_list_t &space_nodes,
|
1970
1980
|
const int &version = 304){
|
1971
1981
|
return RINEX_NAV_Writer(out).write_all(space_nodes, version);
|
1972
1982
|
}
|
1973
1983
|
int write_all(const space_node_t &space_node, const int &version = 304){
|
1974
|
-
|
1984
|
+
space_node_list_t list = {&space_node};
|
1975
1985
|
return write_all(list, version);
|
1976
1986
|
}
|
1977
1987
|
static int write_all(std::ostream &out, const space_node_t &space_node, const int &version = 304){
|
@@ -1536,10 +1536,10 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
|
|
1536
1536
|
* @see A.4.2.4
|
1537
1537
|
* @return correction in meters
|
1538
1538
|
*/
|
1539
|
-
float_t tropo_correction(
|
1539
|
+
static float_t tropo_correction(
|
1540
1540
|
const float_t &year_utc,
|
1541
1541
|
const enu_t &relative_pos,
|
1542
|
-
const llh_t &usrllh)
|
1542
|
+
const llh_t &usrllh){
|
1543
1543
|
|
1544
1544
|
if(usrllh.height() > 10E3){ // same as RTKlib; troposphere ranges from 0 to approximately 11km
|
1545
1545
|
return 0;
|