gps_pvt 0.5.1 → 0.6.0

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Files changed (20) hide show
  1. checksums.yaml +4 -4
  2. data/README.md +11 -7
  3. data/Rakefile +42 -23
  4. data/exe/gps_pvt +13 -6
  5. data/ext/gps_pvt/Coordinate/Coordinate_wrap.cxx +44 -0
  6. data/ext/gps_pvt/GPS/GPS_wrap.cxx +8975 -7360
  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/GPS.h +92 -4
  10. data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +9 -1
  11. data/ext/ninja-scan-light/tool/navigation/RINEX.h +18 -161
  12. data/ext/ninja-scan-light/tool/navigation/SP3.h +1178 -0
  13. data/ext/ninja-scan-light/tool/navigation/coordinate.h +81 -1
  14. data/ext/ninja-scan-light/tool/swig/GPS.i +120 -1
  15. data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb +503 -0
  16. data/ext/ninja-scan-light/tool/util/text_helper.h +248 -0
  17. data/lib/gps_pvt/receiver.rb +24 -0
  18. data/lib/gps_pvt/util.rb +25 -7
  19. data/lib/gps_pvt/version.rb +1 -1
  20. metadata +6 -2
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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+ PG28 12563.499661 -9733.611675 -20645.699174 447.124129 8 6 9 104
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+ * 2015 6 16 2 0 0.00000000
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+ PG32 4560.540435 26469.305624 73.872429 -124.356654 7 4 6 73
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+ __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
@@ -434,5 +872,70 @@ __RINEX_OBS_TEXT__
434
872
  }
435
873
  }
436
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
437
940
  end
438
941
  end