gps_pvt 0.3.3 → 0.4.0

data/ext/ninja-scan-light/tool/navigation/GLONASS_Solver.h

@@ -0,0 +1,306 @@
+/**
+ * @file GLONASS solver
+ *
+ */
+
+/*
+ * Copyright (c) 2022, M.Naruoka (fenrir)
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * - Redistributions of source code must retain the above copyright notice,
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the naruoka.org nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
+ * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+ * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef __GLONASS_SOLVER_H__
+#define __GLONASS_SOLVER_H__
+
+#include "GLONASS.h"
+#include "GPS.h"
+#include "GPS_Solver_Base.h"
+#include "GPS_Solver.h"
+
+#include <cstddef>
+
+template <class FloatT>
+struct GLONASS_SinglePositioning_Options : public GPS_Solver_GeneralOptions<FloatT> {
+  typedef GPS_Solver_GeneralOptions<FloatT> super_t;
+
+  typename GPS_Solver_Base<FloatT>::options_t::template exclude_prn_t<1, 24> exclude_prn; // GLONASS svid ranges from 1 to 24
+  GLONASS_SinglePositioning_Options()
+      : super_t(), exclude_prn() {
+    exclude_prn.set(true); // GLONASS ranging is default off.
+  }
+};
+
+template <class FloatT, class SolverBaseT = GPS_Solver_Base<FloatT> >
+class GLONASS_SinglePositioning : public SolverBaseT {
+  private:
+    GLONASS_SinglePositioning<FloatT> &operator=(const GLONASS_SinglePositioning<FloatT> &);
+  public:
+    typedef GLONASS_SinglePositioning<FloatT> self_t;
+    typedef SolverBaseT base_t;
+    typedef SolverBaseT super_t;
+
+#if defined(__GNUC__) && (__GNUC__ < 5)
+#define inheritate_type(x) typedef typename base_t::x x;
+#else
+#define inheritate_type(x) using typename base_t::x;
+#endif
+
+    inheritate_type(float_t);
+    inheritate_type(prn_t);
+
+    typedef GLONASS_SpaceNode<float_t> space_node_t;
+    inheritate_type(gps_time_t);
+    typedef typename space_node_t::Satellite satellite_t;
+
+    inheritate_type(xyz_t);
+    inheritate_type(enu_t);
+
+    inheritate_type(pos_t);
+
+    typedef typename base_t::measurement_t measurement_t;
+    inheritate_type(range_error_t);
+    inheritate_type(range_corrector_t);
+    inheritate_type(range_correction_t);
+
+    inheritate_type(relative_property_t);
+    typedef typename super_t::measurement_items_t measurement_items_t;
+#undef inheritate_type
+
+    static const typename base_t::measurement_item_set_t L1OF;
+
+    typedef typename GPS_Solver_Base<float_t>::options_t::template merge_t<
+        GLONASS_SinglePositioning_Options<float_t>, base_t> options_t;
+
+  protected:
+    const space_node_t &_space_node;
+    GLONASS_SinglePositioning_Options<float_t> _options;
+
+  public:
+    const space_node_t &space_node() const {return _space_node;}
+
+    range_correction_t ionospheric_correction, tropospheric_correction;
+
+    options_t available_options() const {
+      return options_t(base_t::available_options(), _options);
+    }
+
+    options_t available_options(const options_t &opt_wish) const {
+      GLONASS_SinglePositioning_Options<float_t> opt(opt_wish);
+      return options_t(base_t::available_options(opt_wish), opt);
+    }
+
+    options_t update_options(const options_t &opt_wish){
+      _options = opt_wish;
+      return options_t(base_t::update_options(opt_wish), _options);
+    }
+
+    GLONASS_SinglePositioning(const space_node_t &sn, const options_t &opt_wish = options_t())
+        : base_t(), _space_node(sn), _options(available_options(opt_wish)),
+        ionospheric_correction(), tropospheric_correction() {
+
+      // default ionospheric correction: no correction
+      ionospheric_correction.push_front(&base_t::no_correction);
+
+      // default troposheric correction: no correction
+      tropospheric_correction.push_front(&base_t::no_correction);
+    }
+
+    ~GLONASS_SinglePositioning(){}
+
+    virtual const float_t *rate(
+        const typename measurement_t::mapped_type &values, float_t &buf) const {
+      const float_t *res;
+      if((res = super_t::find_value(values, measurement_items_t::L1_RANGE_RATE, buf))){
+        return res;
+      }
+      // Fall back to doppler * frequency
+      float_t doppler, freq;
+      if(super_t::find_value(values, measurement_items_t::L1_DOPPLER, doppler)
+          && super_t::find_value(values, measurement_items_t::L1_FREQUENCY, freq)){
+        return &(buf = -doppler * (space_node_t::light_speed / freq));
+      }
+      return NULL;
+    }
+
+    virtual const float_t *rate_sigma(
+        const typename measurement_t::mapped_type &values, float_t &buf) const {
+      const float_t *res;
+      if((res = super_t::find_value(values, measurement_items_t::L1_RANGE_RATE_SIGMA, buf))){
+        return res;
+      }
+      // Fall back to doppler * frequency
+      float_t doppler, freq;
+      if(super_t::find_value(values, measurement_items_t::L1_DOPPLER_SIGMA, doppler)
+          && super_t::find_value(values, measurement_items_t::L1_FREQUENCY, freq)){
+        return &(buf = doppler * (space_node_t::light_speed / freq));
+      }
+      return NULL;
+    }
+
+    /**
+     * Check availability of a satellite with which observation is associated
+     *
+     * @param prn satellite number
+     * @param receiver_time receiver time
+     * @return (const satellite_t *) If available, const pointer to satellite is returned,
+     * otherwise NULL.
+     */
+    const satellite_t *is_available(
+        const typename space_node_t::satellites_t::key_type &prn,
+        const gps_time_t &receiver_time) const {
+
+      const typename space_node_t::satellites_t &sats(_space_node.satellites());
+      const typename space_node_t::satellites_t::const_iterator it_sat(sats.find(prn & 0xFF));
+      if((it_sat == sats.end()) // has ephemeris?
+          || (!it_sat->second.ephemeris().is_valid(receiver_time))){ // valid ephemeris?
+        return NULL;
+      }
+
+      return &(it_sat->second);
+    }
+
+    /**
+     * Calculate relative range and rate information to a satellite
+     *
+     * @param prn satellite number
+     * @param measurement measurement (per satellite) containing pseudo range
+     * @param receiver_error (temporal solution of) receiver clock error in meter
+     * @param time_arrival time when signal arrive at receiver
+     * @param usr_pos (temporal solution of) user position
+     * @param usr_vel (temporal solution of) user velocity
+     * @return (relative_property_t) relative information
+     */
+    relative_property_t relative_property(
+        const prn_t &prn,
+        const typename measurement_t::mapped_type &measurement,
+        const float_t &receiver_error,
+        const gps_time_t &time_arrival,
+        const pos_t &usr_pos,
+        const xyz_t &usr_vel) const {
+
+      relative_property_t res = {0};
+
+      if(_options.exclude_prn[prn & 0xFF]){return res;}
+
+      float_t range;
+      range_error_t range_error;
+      if(!this->range(measurement, range, &range_error)){
+        return res; // If no range entry, return with weight = 0
+      }
+
+      const satellite_t *sat(is_available(prn, time_arrival));
+      if(!sat){return res;} // If satellite is unavailable, return with weight = 0
+
+      range -= receiver_error;
+
+      // Clock correction, which will be considered in the next constellation()
+      // as extra transmission time by using extra psuedo range.
+      if(range_error.unknown_flag & range_error_t::SATELLITE_CLOCK){
+        range += (sat->clock_error(time_arrival, range) * space_node_t::light_speed);
+      }else{
+        range += range_error.value[range_error_t::SATELLITE_CLOCK];
+      }
+
+      // Calculate satellite position and velocity
+      typename GPS_SpaceNode<float_t>::SatelliteProperties::constellation_t sat_pos_vel(
+          sat->constellation(time_arrival, range));
+
+      const xyz_t &sat_pos(sat_pos_vel.position);
+      float_t geometric_range(usr_pos.xyz.dist(sat_pos));
+
+      // Calculate residual
+      res.range_residual = range - geometric_range;
+
+      // Setup design matrix
+      res.los_neg[0] = -(sat_pos.x() - usr_pos.xyz.x()) / geometric_range;
+      res.los_neg[1] = -(sat_pos.y() - usr_pos.xyz.y()) / geometric_range;
+      res.los_neg[2] = -(sat_pos.z() - usr_pos.xyz.z()) / geometric_range;
+
+      enu_t relative_pos(enu_t::relative(sat_pos, usr_pos.xyz));
+
+      // Tropospheric
+      res.range_residual += (range_error.unknown_flag & range_error_t::MASK_TROPOSPHERIC)
+          ? tropospheric_correction(time_arrival, usr_pos, relative_pos)
+          : range_error.value[range_error_t::TROPOSPHERIC];
+
+      // Ionospheric
+      if(range_error.unknown_flag & range_error_t::MASK_IONOSPHERIC){
+        float_t freq(space_node_t::L1_frequency_base); // ch.0 is fallback
+        super_t::find_value(measurement, measurement_items_t::L1_FREQUENCY, freq);
+        // ionospheric models are assumed to work with GPS L1
+        res.range_residual +=
+            (ionospheric_correction(time_arrival, usr_pos, relative_pos)
+              * GPS_SpaceNode<float_t>::gamma_per_L1(freq));
+      }else{
+        res.range_residual += range_error.value[range_error_t::IONOSPHERIC];
+      }
+
+      // Setup weight
+      if(std::abs(res.range_residual) > _options.residual_mask){
+        // If residual is too big, gently exclude it by decreasing its weight.
+        res.weight = 1E-8;
+      }else{
+
+        float_t elv(relative_pos.elevation());
+        if(elv < _options.elevation_mask){
+          res.weight = 0; // exclude it when elevation is less than threshold
+        }else{
+          // elevation weight based on "GPS���p�v���O���~���O" @see GPS_Solver.h
+          res.weight = std::pow(sin(elv)/0.8, 2);
+          if(res.weight < 1E-3){res.weight = 1E-3;}
+        }
+      }
+
+      res.range_corrected = range;
+
+      xyz_t rel_vel(sat_pos_vel.velocity - usr_vel); // Calculate velocity
+
+      // Note: clock rate error is already accounted for in constellation()
+      res.rate_relative_neg = res.los_neg[0] * rel_vel.x()
+          + res.los_neg[1] * rel_vel.y()
+          + res.los_neg[2] * rel_vel.z();
+
+      return res;
+    }
+
+    xyz_t *satellite_position(
+        const prn_t &prn,
+        const gps_time_t &time,
+        xyz_t &res) const {
+
+      const satellite_t *sat(is_available(prn, time));
+      return sat ? &(res = sat->position(time)) : NULL;
+    }
+};
+
+template <class FloatT, class SolverBaseT>
+const typename SolverBaseT::measurement_item_set_t
+    GLONASS_SinglePositioning<FloatT, SolverBaseT>::L1OF
+      = SolverBaseT::L1CA;
+
+#endif /* __GLONASS_SOLVER_H__ */

data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h

@@ -271,6 +271,13 @@ struct GPS_Solver_Base {
       remove(v);
       super_t::push_front(v);
     }
+    void add(const super_t &values){
+      for(typename super_t::const_reverse_iterator
+            it(values.rbegin()), it_end(values.rend());
+          it != it_end; ++it){
+        add(*it);
+      }
+    }
   };
 
   /**