gps_pvt 0.2.3 → 0.4.0

checksums.yaml

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

@@ -27,7 +27,8 @@ For Windows users, this gem requires Devkit because of native compilation.
 
 ## Usage
 
-For user who just generate PVT solution, an attached executable is useful. After installation, type
+### For user who just generate PVT solution
+An attached executable is useful. After installation, type
 
     $ gps_pvt RINEX_or_UBX_file(s)
 
@@ -37,11 +38,22 @@ The format of RINEX_or_UBX_file is automatically determined with its extention,
     --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
+Since version 0.2.0, SBAS and QZSS are supported in addition to GPS. Since version 0.4.0, GLONASS is also available. QZSS ranging is activated in default, however, SBAS is just utilized for ionospheric correction. GLONASS is also turned off by default. If you want to activate SBAS or GLONASS ranging, "--with=(system or PRN)" options are used with gps_pvt executable like
 
-    $ gps_pvt --with=137 RINEX_or_UBX_file(s)
+    $ gps_pvt --with=137 --with=GLONASS RINEX_or_UBX_file(s)
 
-For developer, this library will be used in the following:
+Additionally, the following command options *--key=value* are available.
+
+| key | value | comment | version |
+----|----|----|----
+| base_station | 3 \* (numeric+coordinate) | base position used for relative ENU position calculation. XYZ, NEU formats are acceptable. *ex1) --base_station=0X,0Y,0Z*, *ex2) --base_station=12.34N,56.789E,0U* | v0.1.7 |
+| elevation_mask_deg | numeric | satellite elevation mask specified in degrees. *ex) --elevation_mask_deg=10* | v0.3.0 |
+| start_time | time string | start time to perform solution. GPS, UTC and other formats are supported. *ex1) --start_time=1234:5678* represents 5678 seconds in 1234 GPS week, *ex2) --start_time="2000-01-01 00:00:00 UTC"* is in UTC format. | v0.3.3 |
+| end_time | time string | end time to perform solution. Its format is the same as start_time. | v0.3.3 |
+
+### For developer
+
+This library will be used like:
 
 ```ruby
 require 'gps_pvt'
@@ -81,25 +93,41 @@ 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.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|
-  # 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.
   
   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)

data/Rakefile

@@ -29,9 +29,11 @@ namespace :git do
           # same as #{repo}/.git/info/sparse-checkout
           "sparse-checkout set" + (<<-__SPARSE_PATTERNS__).lines.collect{|str| str.chomp.gsub(/^ */, ' ')}.join,
             /tool/param/
+            /tool/algorithm/integral.h
             /tool/navigation/GPS*
             /tool/navigation/SBAS*
             /tool/navigation/QZSS*
+            /tool/navigation/GLONASS*
             /tool/navigation/coordinate.h
             /tool/navigation/EGM.h
             /tool/navigation/MagneticField.h

data/exe/gps_pvt

@@ -6,7 +6,7 @@ require 'gps_pvt'
 
 $stderr.puts <<__STRING__
 Usage: #{__FILE__} GPS_file1 GPS_file2 ...
-As GPS_file, rinex_nav(*.YYn, *.YYh, *.YYq), rinex_obs(*.YYo), and ubx(*.ubx) format are currently supported.
+As GPS_file, rinex_nav(*.YYn, *.YYh, *.YYq, *.YYg), 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.
@@ -14,6 +14,7 @@ Note: YY = last two digit of year.
 __STRING__
 
 options = []
+misc_options = {}
 
 # check options and file format
 files = ARGV.collect{|arg|
@@ -24,11 +25,45 @@ files = ARGV.collect{|arg|
   nil
 }.compact
 
+options.reject!{|opt|
+  case opt[0]
+  when :start_time, :end_time
+    require 'time'
+    gpst_type = GPS_PVT::GPS::Time
+    t = nil
+    if opt[1] =~ /^(?:(\d+):)??(\d+(?:\.\d*)?)$/ then
+      t = [$1 && $1.to_i, $2.to_f]
+      t = gpst_type::new(*t) if t[0]
+    elsif t = (Time::parse(opt[1]) rescue nil) then
+      # leap second handling in Ruby Time is system dependent, thus 
+      #t = gpst_type::new(0, t - Time::parse("1980-01-06 00:00:00 +0000"))
+      # is inappropriate.
+      subsec = t.subsec.to_f
+      t = gpst_type::new(t.to_a[0..5].reverse)
+      t += (subsec + gpst_type::guess_leap_seconds(t))
+    else
+      raise "Unknown time format: #{opt[1]}"
+    end
+    case t
+    when gpst_type
+      $stderr.puts(
+          "#{opt[0]}: %d week %f (a.k.a %04d/%02d/%02d %02d:%02d:%02.1f)" \
+            %(t.to_a + t.utc))
+    when Array
+      $stderr.puts("#{opt[0]}: #{t[0] || '(current)'} week #{t[1]}")
+    end
+    misc_options[opt[0]] = t
+    true
+  else
+    false
+  end
+}
+
 # Check file existence and extension
 files.collect!{|fname, ftype|
   raise "File not found: #{fname}" unless File::exist?(fname)
   ftype ||= case fname
-  when /\.\d{2}[nhq]$/; :rinex_nav
+  when /\.\d{2}[nhqg]$/; :rinex_nav
   when /\.\d{2}o$/; :rinex_obs
   when /\.ubx$/; :ubx
   else
@@ -39,6 +74,34 @@ files.collect!{|fname, ftype|
 
 rcv = GPS_PVT::Receiver::new(options)
 
+proc{
+  run_orig = rcv.method(:run)
+  t_start, t_end = [nil, nil]
+  tasks = []
+  task = proc{|meas, t_meas, *args|
+    t_start, t_end = [:start_time, :end_time].collect{|k|
+      res = misc_options[k]
+      res.kind_of?(Array) \
+          ? GPS_PVT::GPS::Time::new(t_meas.week, res[1]) \
+          : res
+    }
+    task = tasks.shift
+    task.call(*([meas, t_meas] + args))
+  }
+  tasks << proc{|meas, t_meas, *args|
+    next nil if t_start && (t_start > t_meas)
+    task = tasks.shift
+    task.call(*([meas, t_meas] + args))
+  }
+  tasks << proc{|meas, t_meas, *args|
+    next nil if t_end && (t_end < t_meas)
+    run_orig.call(*([meas, t_meas] + args))
+  }
+  rcv.define_singleton_method(:run){|*args|
+    task.call(*args)
+  }
+}.call if [:start_time, :end_time].any?{|k| misc_options[k]}
+
 puts rcv.header
 
 # parse RINEX NAV