gps_pvt 0.4.1 → 0.6.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (25) hide show
  1. checksums.yaml +4 -4
  2. data/README.md +11 -6
  3. data/Rakefile +42 -23
  4. data/exe/gps_pvt +47 -8
  5. data/ext/gps_pvt/Coordinate/Coordinate_wrap.cxx +44 -0
  6. data/ext/gps_pvt/GPS/GPS_wrap.cxx +9198 -7614
  7. data/ext/ninja-scan-light/tool/algorithm/interpolate.h +121 -0
  8. data/ext/ninja-scan-light/tool/navigation/ANTEX.h +747 -0
  9. data/ext/ninja-scan-light/tool/navigation/GLONASS_Solver.h +63 -43
  10. data/ext/ninja-scan-light/tool/navigation/GPS.h +92 -4
  11. data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h +58 -34
  12. data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +50 -17
  13. data/ext/ninja-scan-light/tool/navigation/RINEX.h +19 -144
  14. data/ext/ninja-scan-light/tool/navigation/SBAS.h +19 -4
  15. data/ext/ninja-scan-light/tool/navigation/SBAS_Solver.h +63 -43
  16. data/ext/ninja-scan-light/tool/navigation/SP3.h +1178 -0
  17. data/ext/ninja-scan-light/tool/navigation/coordinate.h +81 -1
  18. data/ext/ninja-scan-light/tool/swig/GPS.i +131 -43
  19. data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb +503 -16
  20. data/ext/ninja-scan-light/tool/util/text_helper.h +248 -0
  21. data/{sig/gps_pvt.rbs → gps_pvt.rbs} +0 -0
  22. data/lib/gps_pvt/receiver.rb +32 -5
  23. data/lib/gps_pvt/util.rb +50 -0
  24. data/lib/gps_pvt/version.rb +1 -1
  25. metadata +8 -3
data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb CHANGED
@@ -220,6 +220,444 @@ __RINEX_OBS_TEXT__
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  end
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  f.path
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  },
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+ :sp3 => Tempfile::open{|f|
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+ f.write(<<-__SP3_TEXT__)
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+ #cP2015 6 16 0 0 0.00000000 96 ORBIT IGb08 HLM IGS
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+ ## 1849 172800.00000000 900.00000000 57189 0.0000000000000
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+ + 32 G01G02G03G04G05G06G07G08G09G10G11G12G13G14G15G16G17
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+ + G18G19G20G21G22G23G24G25G26G27G28G29G30G31G32 0 0
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+ + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+ + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+ + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+ ++ 2 2 2 2 2 2 2 0 2 2 2 3 2 2 2 2 2
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+ ++ 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 0 0
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+ ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+ ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+ ++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+ %c G cc GPS ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc
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+ %c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc
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+ %f 1.2500000 1.025000000 0.00000000000 0.000000000000000
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+ %f 0.0000000 0.000000000 0.00000000000 0.000000000000000
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+ %i 0 0 0 0 0 0 0 0 0
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+ %i 0 0 0 0 0 0 0 0 0
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+ /* FINAL ORBIT COMBINATION FROM WEIGHTED AVERAGE OF:
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+ /* cod emr esa gfz grg jpl mit ngs sio
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+ /* REFERENCED TO IGS TIME (IGST) AND TO WEIGHTED MEAN POLE:
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+ /* PCV:IGS08_1848 OL/AL:FES2004 NONE Y ORB:CMB CLK:CMB
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+ PG29 -22325.753461 1674.619987 14272.861920 616.898738 7 2 6 125
442
+ PG30 18436.582502 -4268.668915 -18676.390691 -42.965072 5 6 5 95
443
+ PG31 -6818.898991 13321.547590 22065.202282 312.818520 8 6 5 109
444
+ PG32 5240.619068 24985.498105 8252.302757 -124.382851 7 4 6 51
445
+ * 2015 6 16 1 30 0.00000000
446
+ PG01 22125.984442 13837.136700 -5525.763483 -4.221390 8 6 4 113
447
+ PG02 -3692.286064 -17320.412550 20284.218171 572.347023 6 5 5 116
448
+ PG03 13401.795063 16206.012722 16217.739040 350.749263 5 7 4 107
449
+ PG04 15454.576075 17135.443401 -13710.360487 -19.590362 8 8 5 106
450
+ PG05 -2640.432195 -26305.346414 962.418401 -228.951985 6 4 6 125
451
+ PG06 12047.572288 -10820.194456 21054.180374 185.464105 7 5 4 113
452
+ PG07 24900.874401 5248.570838 -8153.056869 468.906732 9 7 8 77
453
+ PG08 -8466.719136 19536.063865 15531.857973 999999.999999
454
+ PG09 21746.746251 -3292.008626 14898.758978 -170.814610 6 4 6 105
455
+ PG10 10353.582606 -17244.069500 16740.463114 -179.070408 8 6 7 105
456
+ PG11 19756.157565 12123.901865 -13609.501489 -585.268387 7 6 7 100
457
+ PG12 -10911.265981 -19495.091536 14430.381231 301.815004 6 7 9 103
458
+ PG13 4310.294191 -17817.664082 -19404.689035 -123.748133 8 7 6 113
459
+ PG14 -21554.493252 15277.908661 1922.278197 55.748016 8 7 3 120
460
+ PG15 -8962.655686 -13113.723875 -21364.363423 -255.198691 9 6 6 126
461
+ PG16 619.454877 26315.274299 1196.754805 -118.487836 8 7 6 121
462
+ PG17 20999.650200 -15982.773564 2039.855146 -176.056748 7 5 8 122
463
+ PG18 -15389.815484 3489.801762 -20850.782260 409.700287 6 6 8 118
464
+ PG19 5298.290997 14331.906213 -21885.020426 -513.461819 6 7 7 121
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+ PG20 -12168.817130 -21208.146817 -10490.744229 329.991833 8 6 7 118
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+ PG21 -24733.696407 -2882.500417 -9019.873502 -455.632051 11 7 7 107
467
+ PG22 -10880.736512 16667.226924 -17265.416380 361.384936 7 7 7 127
468
+ PG23 15876.764689 6539.781587 20519.602097 -115.101877 6 7 4 111
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+ PG24 -20632.580039 -14727.043697 -8212.237936 -49.988620 7 7 9 104
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471
+ PG26 -5117.861344 23460.878015 11333.618311 28.980295 7 5 5 120
472
+ PG27 -5817.891754 19276.696326 -17280.091485 -2.572329 7 6 8 123
473
+ PG28 12285.712645 -12140.217141 -19533.377698 447.122156 8 6 9 108
474
+ PG29 -20924.838503 618.311870 16338.261838 616.900925 7 3 7 129
475
+ PG30 20145.533388 -3140.604023 -17071.166204 -42.959023 5 6 5 95
476
+ PG31 -9036.616077 12199.813040 21945.130425 312.817364 8 6 5 109
477
+ PG32 5003.516299 25771.791891 5604.349748 -124.374137 7 4 6 69
478
+ * 2015 6 16 1 45 0.00000000
479
+ PG01 21321.967739 13758.385379 -8227.606461 -4.220992 8 6 4 127
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+ PG02 -1509.653225 -16620.607871 21107.810028 572.349216 6 5 5 114
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+ PG03 13478.848619 17953.113358 14181.308970 350.755609 5 7 4 111
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+ PG04 13854.259780 16760.767075 -15755.388263 -19.592286 8 8 4 100
483
+ PG05 -2289.437353 -26079.251967 3782.050755 -228.947916 7 5 6 119
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+ PG06 14215.498776 -9893.826219 20137.262800 185.471896 7 5 4 114
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+ PG07 25547.932115 5726.806417 -5441.751546 468.908874 9 7 8 75
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+ PG08 -8862.893713 17647.380032 17451.250873 999999.999999
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+ PG09 20446.376945 -2010.378654 16838.918343 -170.818636 5 3 6 105
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+ PG11 18145.410487 12378.760795 -15549.840656 -585.270768 7 6 7 107
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+ PG12 -10944.069218 -21021.939075 12109.792399 301.817568 7 7 9 107
491
+ PG13 6140.741419 -18851.444144 -17873.739902 -123.751258 8 7 6 105
492
+ PG14 -21719.778822 15087.743508 -954.427718 55.745373 8 7 3 120
493
+ PG15 -7115.569755 -14675.537238 -21010.787488 -255.200568 8 6 5 128
494
+ PG16 394.390687 26018.516485 4111.333908 -118.484635 8 7 6 124
495
+ PG17 21168.097141 -15813.689388 -851.638749 -176.058494 7 5 8 120
496
+ PG18 -15826.069944 1024.569816 -20819.026077 409.703145 5 6 8 115
497
+ PG19 3230.998452 15620.648316 -21354.277879 -513.462524 6 7 6 114
498
+ PG20 -12089.254670 -22294.878874 -7980.130852 329.994877 7 6 7 127
499
+ PG21 -25534.683079 -3495.044881 -6429.569786 -455.634878 11 8 7 103
500
+ PG22 -11441.106320 14613.473892 -18701.044299 361.388544 7 7 7 127
501
+ PG23 14067.986832 8048.651216 21255.340711 -115.103479 6 7 5 107
502
+ PG24 -19539.512421 -14575.336281 -10758.260665 -49.989351 7 7 9 102
503
+ PG25 -15234.626645 -8869.796569 19818.080453 -2.319600 5 6 7 104
504
+ PG26 -5547.092689 22078.091338 13667.644547 28.978288 7 5 5 120
505
+ PG27 -7373.242501 20322.740871 -15370.322478 -2.569880 7 6 8 122
506
+ PG28 12563.499661 -9733.611675 -20645.699174 447.124129 8 6 9 104
507
+ PG29 -19405.193343 -637.945038 18122.339592 616.902563 7 3 7 122
508
+ PG30 21731.998888 -2188.718410 -15173.219218 -42.952986 5 6 5 89
509
+ PG31 -11278.084106 11216.380259 21452.714377 312.816400 9 6 6 101
510
+ PG32 4788.732831 26268.482136 2862.952955 -124.365395 7 4 6 99
511
+ * 2015 6 16 2 0 0.00000000
512
+ PG01 20233.348484 13629.194257 -10789.676668 -4.220562 7 5 5 128
513
+ PG02 777.556162 -16010.692492 21582.075535 572.351271 6 5 6 108
514
+ PG03 13595.017826 19455.179341 11900.649915 350.761968 5 7 4 112
515
+ PG04 12034.436020 16403.520506 -17538.041715 -19.594147 8 9 3 110
516
+ PG05 -1859.474012 -25561.702165 6535.778728 -228.944077 7 5 6 116
517
+ PG06 16311.445084 -9119.817432 18873.860017 185.479747 7 5 5 108
518
+ PG07 25927.214413 6065.534460 -2638.658561 468.910793 9 8 7 87
519
+ PG08 -9400.587101 15584.760342 19063.251083 999999.999999
520
+ PG09 19063.600635 -526.431067 18489.423436 -170.822590 5 3 6 111
521
+ PG10 11492.528897 -13019.648952 19591.289231 -179.070356 7 5 6 106
522
+ PG11 16350.387804 12705.686309 -17232.943454 -585.273100 7 7 6 116
523
+ PG12 -11019.037738 -22272.133150 9582.051192 301.820693 7 7 9 98
524
+ PG13 7758.302905 -19872.983416 -16039.798293 -123.754514 8 7 6 105
525
+ PG14 -21637.729183 14705.103859 -3814.497904 55.742885 8 7 3 119
526
+ PG15 -5385.399289 -16283.825851 -20297.222778 -255.202399 8 5 5 129
527
+ PG16 104.434368 25408.082035 6953.399056 -118.480683 9 7 7 116
528
+ PG17 21093.191351 -15442.451590 -3728.240845 -176.060365 7 5 7 120
529
+ PG18 -16366.218735 -1390.559434 -20412.885121 409.706210 5 6 8 116
530
+ PG19 1296.169874 16973.327115 -20459.969711 -513.463309 6 7 6 112
531
+ PG20 -11978.822564 -23106.990938 -5332.608667 329.998263 7 5 7 119
532
+ PG21 -26077.373942 -3974.155066 -3728.564042 -455.637336 11 8 7 97
533
+ PG22 -12126.174504 12446.531805 -19807.025111 361.392250 7 7 7 128
534
+ PG23 12289.127439 9691.870569 21632.232169 -115.105680 6 6 5 101
535
+ PG24 -18175.463222 -14399.059020 -13120.890056 -49.989711 7 7 9 118
536
+ PG25 -15615.126509 -11035.777175 18405.092531 -2.323319 5 6 6 98
537
+ PG26 -6100.824441 20474.123672 15766.242473 28.976320 7 5 6 119
538
+ PG27 -8700.181001 21294.126874 -13195.022353 -2.567487 7 5 8 113
539
+ PG28 12988.297366 -7237.454640 -21381.739406 447.126649 8 6 9 98
540
+ PG29 -17812.688580 -2090.494976 19594.531426 616.904478 7 4 7 125
541
+ PG30 23152.962870 -1406.344184 -13015.175331 -42.947046 6 6 5 95
542
+ PG31 -13496.289143 10384.210310 20597.169249 312.815369 9 6 6 108
543
+ PG32 4560.540435 26469.305624 73.872429 -124.356654 7 4 6 73
544
+ __SP3_TEXT__
545
+ # https://cddis.nasa.gov/archive/gnss/products/1849/igs18492.sp3.Z
546
+ # mirrored: ftp://garner.ucsd.edu/pub/products/1849/igs18492.sp3.Z
547
+ f.path
548
+ },
549
+ :antex => Tempfile::open{|f|
550
+ f.write(<<-__ANTEX_TEXT__)
551
+ 1.4 M ANTEX VERSION / SYST
552
+ A PCV TYPE / REFANT
553
+ END OF HEADER
554
+ START OF ANTENNA
555
+ BLOCK IIR-M G12 G058 2006-052A TYPE / SERIAL NO
556
+ 0 29-JAN-17 METH / BY / # / DATE
557
+ 0.0 DAZI
558
+ 0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
559
+ 2 # OF FREQUENCIES
560
+ 2006 11 17 0 0 0.0000000 VALID FROM
561
+ IGS14_2196 SINEX CODE
562
+ G01 START OF FREQUENCY
563
+ 10.20 -5.60 767.80 NORTH / EAST / UP
564
+ NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
565
+ G01 END OF FREQUENCY
566
+ G02 START OF FREQUENCY
567
+ 10.20 -5.60 767.80 NORTH / EAST / UP
568
+ NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
569
+ G02 END OF FREQUENCY
570
+ END OF ANTENNA
571
+ START OF ANTENNA
572
+ BLOCK IIR-A G18 G054 2001-004A TYPE / SERIAL NO
573
+ 0 29-JAN-17 METH / BY / # / DATE
574
+ 0.0 DAZI
575
+ 0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
576
+ 2 # OF FREQUENCIES
577
+ 2001 1 30 0 0 0.0000000 VALID FROM
578
+ 2018 1 23 23 59 59.9999999 VALID UNTIL
579
+ IGS14_2196 SINEX CODE
580
+ G01 START OF FREQUENCY
581
+ 13.90 0.30 1248.60 NORTH / EAST / UP
582
+ NOAZI -6.10 -5.20 -3.30 -1.00 1.40 3.50 4.70 4.90 4.10 2.80 0.80 -1.00 -2.10 -2.10 -1.40 -0.80 2.00 6.40
583
+ G01 END OF FREQUENCY
584
+ G02 START OF FREQUENCY
585
+ 13.90 0.30 1248.60 NORTH / EAST / UP
586
+ NOAZI -6.10 -5.20 -3.30 -1.00 1.40 3.50 4.70 4.90 4.10 2.80 0.80 -1.00 -2.10 -2.10 -1.40 -0.80 2.00 6.40
587
+ G02 END OF FREQUENCY
588
+ END OF ANTENNA
589
+ START OF ANTENNA
590
+ BLOCK IIF G24 G065 2012-053A TYPE / SERIAL NO
591
+ 0 29-JAN-17 METH / BY / # / DATE
592
+ 0.0 DAZI
593
+ 0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
594
+ 2 # OF FREQUENCIES
595
+ 2012 10 4 0 0 0.0000000 VALID FROM
596
+ IGS14_2196 SINEX CODE
597
+ G01 START OF FREQUENCY
598
+ 394.00 0.00 1407.10 NORTH / EAST / UP
599
+ NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
600
+ G01 END OF FREQUENCY
601
+ G02 START OF FREQUENCY
602
+ 394.00 0.00 1407.10 NORTH / EAST / UP
603
+ NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
604
+ G02 END OF FREQUENCY
605
+ END OF ANTENNA
606
+ START OF ANTENNA
607
+ BLOCK IIF G25 G062 2010-022A TYPE / SERIAL NO
608
+ 0 29-JAN-17 METH / BY / # / DATE
609
+ 0.0 DAZI
610
+ 0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
611
+ 2 # OF FREQUENCIES
612
+ 2010 5 28 0 0 0.0000000 VALID FROM
613
+ IGS14_2196 SINEX CODE
614
+ G01 START OF FREQUENCY
615
+ 394.00 0.00 1517.40 NORTH / EAST / UP
616
+ NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
617
+ G01 END OF FREQUENCY
618
+ G02 START OF FREQUENCY
619
+ 394.00 0.00 1517.40 NORTH / EAST / UP
620
+ NOAZI 6.10 4.40 2.80 1.30 -0.20 -1.40 -2.80 -3.90 -4.40 -4.40 -3.70 -2.30 -0.20 3.00 5.70 12.40 18.20 23.50
621
+ G02 END OF FREQUENCY
622
+ END OF ANTENNA
623
+ START OF ANTENNA
624
+ BLOCK IIR-M G29 G057 2007-062A TYPE / SERIAL NO
625
+ 0 29-JAN-17 METH / BY / # / DATE
626
+ 0.0 DAZI
627
+ 0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
628
+ 2 # OF FREQUENCIES
629
+ 2007 12 20 0 0 0.0000000 VALID FROM
630
+ IGS14_2196 SINEX CODE
631
+ G01 START OF FREQUENCY
632
+ 10.90 -4.50 791.80 NORTH / EAST / UP
633
+ NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
634
+ G01 END OF FREQUENCY
635
+ G02 START OF FREQUENCY
636
+ 10.90 -4.50 791.80 NORTH / EAST / UP
637
+ NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
638
+ G02 END OF FREQUENCY
639
+ END OF ANTENNA
640
+ START OF ANTENNA
641
+ BLOCK IIR-M G31 G052 2006-042A TYPE / SERIAL NO
642
+ 0 29-JAN-17 METH / BY / # / DATE
643
+ 0.0 DAZI
644
+ 0.0 17.0 1.0 ZEN1 / ZEN2 / DZEN
645
+ 2 # OF FREQUENCIES
646
+ 2006 9 25 0 0 0.0000000 VALID FROM
647
+ IGS14_2196 SINEX CODE
648
+ G01 START OF FREQUENCY
649
+ -0.80 5.80 912.50 NORTH / EAST / UP
650
+ NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
651
+ G01 END OF FREQUENCY
652
+ G02 START OF FREQUENCY
653
+ -0.80 5.80 912.50 NORTH / EAST / UP
654
+ NOAZI 10.70 10.10 8.00 4.60 0.50 -3.80 -7.50 -9.70 -10.30 -9.50 -7.40 -4.10 0.30 6.00 12.10 22.00 30.40 40.60
655
+ G02 END OF FREQUENCY
656
+ END OF ANTENNA
657
+ __ANTEX_TEXT__
658
+ # https://files.igs.org/pub/station/general/igs14.atx
659
+ f.path
660
+ },
223
661
  }}
224
662
  let(:solver){
225
663
  res = GPS::Solver::new
@@ -375,22 +813,6 @@ __RINEX_OBS_TEXT__
375
813
  expect(mat).to respond_to(:resize!)
376
814
  }
377
815
  }
378
- solver.hooks[:satellite_position] = proc{
379
- i = 0
380
- proc{|prn, time, pos|
381
- expect(input[:measurement]).to include(prn)
382
- expect(pos).to be_a_kind_of(Coordinate::XYZ).or eq(nil)
383
- # System_XYZ or [x,y,z] or nil(= unknown position) are acceptable
384
- case (i += 1) % 5
385
- when 0
386
- nil
387
- when 1
388
- pos.to_a
389
- else
390
- pos
391
- end
392
- }
393
- }.call
394
816
  pvt = solver.solve(
395
817
  input[:measurement].collect{|prn, items|
396
818
  items.collect{|k, v| [prn, k, v]}
@@ -450,5 +872,70 @@ __RINEX_OBS_TEXT__
450
872
  }
451
873
  }
452
874
  end
875
+ it 'calculates satellites position based on SP3 with ANTEX' do
876
+ sp3, sn = [GPS::SP3::new, solver.gps_space_node]
877
+ expect(sp3.read(input[:sp3])).to eq(32 * 9)
878
+ proc{|sats|
879
+ expect(sats.kind_of?(Array)).to eq(true)
880
+ expect(sats[sp3.class::SYS_GPS]).to eq(32)
881
+ }.call(sp3.satellites)
882
+ expect(sp3.apply_antex(input[:antex])).to eq(6 * 9)
883
+ sn.read(input[:rinex_nav])
884
+
885
+ t0 = GPS::Time::new(1849, 172800)
886
+ sn.update_all_ephemeris(t0)
887
+
888
+ (0..120).step(10){|dt_min|
889
+ t = t0 + (dt_min * 60)
890
+ [12, 18, 24, 25, 29, 31].each{|sat_id|
891
+ eph_pos_vel = sn.ephemeris(sat_id).constellation(t)
892
+ delta = {
893
+ :pos => (sp3.position(sat_id, t) - eph_pos_vel[0]).to_a,
894
+ :vel => (sp3.velocity(sat_id, t) - eph_pos_vel[1]).to_a,
895
+ }
896
+ puts "SP3 delta(#{t.seconds}, #{sat_id}): #{delta}"
897
+ delta[:pos].each{|v|
898
+ expect(v.abs).to be < 5 # 5m
899
+ }
900
+ delta[:vel].each{|v|
901
+ expect(v.abs).to be < 1E-2 # 10mm
902
+ }
903
+ }
904
+ }
905
+ end
906
+ it 'calculates position without any error with SP3 and ANTEX' do
907
+ sn = solver.gps_space_node
908
+ sp3 = GPS::SP3::new
909
+ sp3.read(input[:sp3])
910
+ sp3.apply_antex(input[:antex])
911
+ expect(sp3.push(solver, sp3.class::SYS_GPS)).to eq(true)
912
+ GPS::RINEX_Observation::read(input[:rinex_obs]){|item|
913
+ t_meas = item[:time]
914
+ sn.update_all_ephemeris(t_meas)
915
+
916
+ meas = GPS::Measurement::new
917
+ types = (item[:meas_types]['G'] || item[:meas_types][' ']).collect.with_index{|type_, i|
918
+ type_ = {
919
+ "C1" => :L1_PSEUDORANGE,
920
+ "D1" => :L1_RANGE_RATE,
921
+ }[type_]
922
+ type_ && [i, GPS::Measurement::const_get(type_)]
923
+ }.compact
924
+ item[:meas].each{|k, v|
925
+ sys, prn = k
926
+ next unless sys == 'G' # GPS only
927
+ types.each{|i, type_|
928
+ meas.add(prn, type_, v[i][0]) if v[i]
929
+ }
930
+ }
931
+
932
+ pvt = solver.solve(meas, t_meas)
933
+ expect(pvt.position_solved?).to eq(true)
934
+ [-3952590.4754, 3360273.8926, 3697987.2632].zip(pvt.xyz.to_a).each{|a, b|
935
+ expect(a).to be_within(1E+2).of(b) # 10 m
936
+ }
937
+ puts ([:lat, :lng].collect{|f| pvt.llh.send(f) / Math::PI * 180} + [pvt.llh.alt]).inspect
938
+ }
939
+ end
453
940
  end
454
941
  end